Generates a path for a series of points using latitude and longitude.
The path consists of straight lines and arcs.
A route can be generated from two or more waypoints.
The route is output as a series of points list of latitude and longitude.

gps_trajectory generation.py : The generated routes are displayed using matplotlib.
gps_trajectory generation_kml.py : Saves the generated route to a kml file. The saved kml file can be displayed in Google Earth.

• Python 3.7.
• math
• matplotlib.pyplot
• numpy
• pandas
• sys
• simplekml

Set the following variables to values of your choice.

1. r : Radius of arc path [m]
2. vehicle_velocity : Interval of a series of points [m] ( Vehicle speed [m/s] )
3. waypoint*_lat : Latitude of target waypoint [°]
4. waypoint*_lon : Longitude of target waypoint [°]
   3.4.waypoint:The first is the initial waypoint of the robot. The last is the target waypoint. The coordinates between them specify the waypoint of the turn on the travel route.

The following list is output.

1. waypoint_list : Generated route (list of latitude and longitude) [°]
2. waypoint_lat : Generated route (list of latitude) [°]
3. waypoint_lat : Generated route (list of longitude) [°]

[Python]緯度経度から2地点間の距離と方位角を計算する
[Python] 始点の緯度経度と方位角と距離から、終点の緯度経度と方位角を求める

Naoto Yamanaka

MIT