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PengLu / 使用kinodynamic RRTStar算法规划轨迹

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sample_free_states.m 304 Bytes
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function [ state ] = sample_free_states( state_limits, obstacles, radius)
not_done = true;
while not_done
state = rand(size(state_limits,1), 1);
state = state.*(state_limits(:,2)-state_limits(:,1))+state_limits(:,1);
not_done = ~is_state_free(state, state_limits, obstacles, radius);
end
end

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https://gitee.com/olupengo/kinodynamic-RRTStar-for-landing-on-small-body.git
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kinodynamic-RRTStar-for-landing-on-small-body
使用kinodynamic RRTStar算法规划轨迹
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