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PengLu / 使用kinodynamic RRTStar算法规划轨迹

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PengLu authored 2018-09-27 16:04 . 更新 README.md

使用kinodynamic RRTStar算法规划轨迹

项目介绍

为了提高着陆精度的同时降低小行星着陆器着陆过程的燃料消耗和着陆时间,将基于采样的运动规划算法——Kinodynamic RRTStar算法应用到着陆器的轨迹规划中。以着陆器从433Eros悬停位置到目标着陆区域的轨迹规划为例给出了三维着陆轨迹MATLAB仿真结果。主要参考文献为Dustin J. Webb和Jur van den Berg的论文Kinodynamic RRT*: Optimal Motion Planning for Systems with Linear Differential Constraints。该代码是在github用户bwimm提供的代码基础上修改而得的。bwimm的代码所在网站:https://github.com/bwimm/kinodynamic_rrt_star

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使用kinodynamic RRTStar算法规划轨迹
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