低维下的运动规划

planning methods

1. 碰撞检测
2. 状态方程

3. 换档点的优化

4. bench-mr

ref

• blog
  • MOTION PLANNING

• paper

  • 2022 db-A*: Discontinuity-bounded Search for Kinodynamic Mobile Robot Motion Planning
  • 2017-A tutorial on newton methods for constrained trajectory optimization and relations to slam, gaussian process smoothing, optimal control, and probabilistic inference
  • 2008-kpiece:Kinodynamic Motion Planning by Interior-Exterior Cell Exploration

• book

  • Robotic Systems
• library
  • • Search-based: ARA* (using SBPL http://www.sbpl.net/)
  • • Sampling-based: SST* (using OMPL https://ompl.kavrakilab.org/)
  • • Hybrid: db-A*

ref

• blog
• paper
  • Implementation of Autonomous Parking with Two Path Planning Algorithms
• project
  • rrt_reeds_shepp