10 - Research: PAF21-1 planning (#36)

* Update Readme.md

* Create PAF21-1 planning docs.

doc/03_research/03_planning/08_paf21-1.md

@@ -0,0 +1,29 @@
+# Planning in PAF21-1
+
+**Authors:** Maximilian Jannack
+
+**Date:** 12.11.2023
+
+---
+
+In PAF21-1, they divided the planning stage into two major components:
+
+- Global Planner
+- Local Planner
+
+A more detailed explanation is already present in the [basics](./02_basics.md#paf-2021-1) chapter.
+
+---
+
+## Global Planner
+
+- Reads the XODR-Files (XML) which contains the designated waypoints
+- Divides the total path into small segments and assigns weights to it
+- Calculates the shortest path with the Dijkstra algorithm
+
+---
+
+## Local Planner
+
+- `Vehicle Controller` for speed control and steering
+- `Decision-Making-Component` as finite state machine for speed control and maneuvers

doc/03_research/03_planning/Readme.md

@@ -1,8 +1,11 @@
 # Planning
 
-This folder contains all the results of our research on planning:
+This folder contains all the results of research on planning:
 
-* [Basic Research (et al. old PAF-Projects)](./02_basics.md)
-* [First Implementation plan](./03_Implementation.md)
-* [Decision-making](./04_decision_making.md)
-* [State machine design](./06_state_machine_design.md)
+* **PAF22**
+  * [Basic Research (et al. old PAF-Projects)](./02_basics.md)
+  * [First Implementation plan](./03_Implementation.md)
+  * [Decision-making](./04_decision_making.md)
+  * [State machine design](./06_state_machine_design.md)
+* **PAF23**
+  * [PAF21-1 Planning](./08_paf21-1.md)