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모션 계획

경로 메트릭, RRT 경로 플래너, 경로 추종

모션 계획을 사용하여 환경 전체에서 경로를 계획합니다. RRT, RRT*, Hybrid A*와 같은 일반적인 샘플링 기반 플래너를 사용하거나 사용자 지정이 가능한 경로 계획 인터페이스를 지정할 수 있습니다. 경로 메트릭과 상태 유효성 검사를 사용하여 경로가 유효하고 장애물이 적절하게 제거되거나 평활도를 갖추고 있는지 확인할 수 있습니다. 경로를 따르면서 Pure Pursuit 알고리즘과 벡터장 히스토그램 알고리즘을 사용하여 장애물을 피할 수 있습니다.

함수

모두 확장

navPath계획된 경로
navPathControlPath representing control-based kinematic trajectory
dubinsConnectionDubins path connection type
dubinsPathSegmentDubins path segment connecting two poses
reedsSheppConnectionReeds-Shepp path connection type
reedsSheppPathSegmentReeds-Shepp path segment connecting two poses
pathmetricsInformation for path metrics
clearanceMinimum clearance of path
isPathValidDetermine if planned path is obstacle free
smoothnessSmoothness of path
showVisualize path metrics in map environment
stateSpaceSE2SE(2) state space
stateSpaceSE3SE(3) state space
stateSpaceDubinsState space for Dubins vehicles
stateSpaceReedsSheppState space for Reeds-Shepp vehicles
validatorOccupancyMapState validator based on 2-D grid map
validatorOccupancyMap3DState validator based on 3-D grid map
validatorVehicleCostmapState validator based on 2-D costmap
isStateValidCheck if state is valid
isMotionValidCheck if path between states is valid
nav.StatePropagatorState propagator for control-based planning
mobileRobotPropagatorState propagator for wheeled robotic systems
distanceEstimate cost of propagating to target state
propagatePropagate system without validation
propagateWhileValidPropagate system and return valid motion
sampleControlGenerate control command and duration
setupSet up the mobile robot state propagator
plannerRRTCreate an RRT planner for geometric planning
plannerRRTStarCreate an optimal RRT path planner (RRT*)
plannerBiRRTCreate bidirectional RRT planner for geometric planning
plannerControlRRTControl-based RRT planner
plannerAStarGridA* path planner for grid map
plannerHybridAStarHybrid A* 경로 플래너
plannerPRMCreate probabilistic roadmap path planner
plannerBenchmarkBenchmark path planners using generated metrics
optimizePathOptionsCreate optimization options for optimizePath function
optimizePathOptimize path while maintaining safe distance from obstacle
referencePathFrenetSmooth reference path fit to waypoints
trajectoryGeneratorFrenet기준 경로를 따라 최적 궤적 찾기
trajectoryOptimalFrenetFind optimal trajectory along reference path
createPlanningTemplateCreate sample implementation for path planning interface
nav.StateSpaceCreate state space for path planning
nav.StateValidatorCreate state validator for path planning
controllerVFHAvoid obstacles using vector field histogram
controllerPurePursuitCreate controller to follow set of waypoints
dynamicCapsuleListDynamic capsule-based obstacle list
dynamicCapsuleList3DDynamic capsule-based obstacle list
addEgoAdd ego bodies to capsule list
addObstacleAdd obstacles to 2-D capsule list
checkCollisionCheck for collisions between ego bodies and obstacles
egoGeometryGeometric properties of ego bodies
egoPosePoses of ego bodies
obstacleGeometryGeometric properties of obstacles
obstaclePosePoses of obstacles

블록

Pure Pursuit선속도 제어 명령과 각속도 제어 명령
Vector Field HistogramAvoid obstacles using vector field histogram

도움말 항목