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陈狗翔 / PRM-RS-path-planning

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README.md

PRM-RS-path-planning

2D robot path planning using PRM RS(random sample) algorithm

说明

实现的是PRM RS 算法,其算法特点是因为使用随机撒点策略,具有一定的随机性,而又因为使用A*算法,相对稳定。

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,PRM随机撒点.jpg是运行的结果,intel_binary.jpg是英特尔大楼的一层slam建出来的图,是一个经典的benchmark

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

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