1 Star 0 Fork 2

陈狗翔 / MRRT-path-planning

Create your Gitee Account
Explore and code with more than 6 million developers,Free private repositories !:)
Sign up
This repository doesn't specify license. Without author's permission, this code is only for learning and cannot be used for other purposes.
Clone or download
Cancel
Notice: Creating folder will generate an empty file .keep, because not support in Git
Loading...
README.md

MRRT-path-planning

2D robot path planning using MRRT algorithm

说明

实现的是MRRT(multiple RRT) 算法,多树搜索,本算法实现的是双树搜索,即从起点和终点同时生长搜索树(红树与黑树),当两树相遇时连接,其算法特点与RRT基本相似,可以相互对照。

本来是老师实验室移动机器人需要的一种路径规划算法,实际并未在机器人上跑过,最终是整理成了一篇评价各个算法的论文

后续将发出其他的路径规划算法

想要运行的话,需要opencv2的支持,本人在VS2010 + opencv2 的环境下是测试过的

运行结果示意也包含在其中了,MRRT.jpg是运行的结果,fr079_binary.jpg也是一个经典的benchmark,slam建图得到

代码挺丑陋的,仅供参考,有部分注释

联系 Author:陈狗翔 zhixinc@buaa.edu.cn

Comments ( 0 )

Sign in for post a comment

About

2D robot path planning using MRRT algorithm spread retract
Cancel

Releases

No release

Contributors

All

Activities

load more
can not load any more
C++
1
https://gitee.com/ChenGouXiang/MRRT-path-planning.git
git@gitee.com:ChenGouXiang/MRRT-path-planning.git
ChenGouXiang
MRRT-path-planning
MRRT-path-planning
master

Search