2D Path planner algorithm based on Splines and Differential Evolution

This code repository is a library for two new path planners based on Differential Evolution, DE-Spline and DE-NURBS, which use the L-SHADE algorithm and curve parameterizations to provide a smoother path for robots to reach their targets. Compared to a widely used Vector Field-based planner, DE-Spline and DE-NURBS consider the robot's starting and goal angles, resulting in a smoother path along the shortest route. In addition, DE-NURBS also provides greater planning freedom than DE-Spline.