基于冗余机械臂的避障路径规划代码，采用rrt算法，具有很强的使用价值和参考价值

Incremental Sampling-based Algorithms for Optimal Motion Planning, Robotics

motion planning参考资料，apollo决策规划模块提到的，找到的所有了：《motion planning algorithm book》《optimal and efficient path planning for partially-known environment 》《a Review Motion Planning Technique for advanced vehicle_Gonzalez_2015_final-sub》《a-comparative-study-of-multiple-model-algorithms-for-maneuvering-target-tracking》其中1 3用来入门最好不过了

If you're interested in robot motion planning, this book is it! It provides incomparable detailed coverage of the major methods for motion planning and their theory, and could serve as a great geometrical perspective to planning in general. It's not a casual read, however and is meant for a specialist audience with a liking for theory. No professional roboticist should be without it.

Robot Motion Planning and Control， Laboratoire d'Analye et d'Architecture des Systemes Centre National de la Recherche Scientique LAAS report 97438 Foreword How can a robot decide what motions to perform in order to achieve tasks in the physical world ? The existing industrial robot programming systems still have very limited motion planning capabilities. Moreover the eld of robotics is growing: space exploration, undersea work, intervention in hazardous environments, servicing robotics : : : Motion planning appears as one of the components for the necessary autonomy of the robots in such real contexts. It is also a fundamental issue in robot simulation software to help work cell designers to determine collision free paths for robots performing specic tasks.

Motion planning is the central theme of this book. It can be loosely stated as follows: How can a robot decide what motions to perform in order to achieve goal arrangements of physical objects? This capability is eminently necessary since, by definition, a robot accomplishes tasks by moving in the real world.