offline and online trajectory planning
Thebasicproblemofmotionplanningistoselectapath,ortrajectory,fromagiveninitialstatetoadestinationstate,whileavoidingcollisionswithknownstaticandmovingobstacles.Ideally,itisdesirablethatthetrajectorytothegoalbecomputedonline,duringmotion,toallowtherobotreacttochangesintheenvi-ron
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