(源码)基于ROS和g2o框架的TEB局部路径规划器.zip

上传者: m0_74337424 | 上传时间: 2025-04-19 14:53:41 | 文件大小: 392KB | 文件类型: ZIP
# 基于ROS和g2o框架的TEB局部路径规划器 ## 项目简介 本项目是一个基于ROS(机器人操作系统)和g2o优化框架的局部路径规划器,名为TEB(Timed Elastic Band)局部路径规划器。该项目主要用于移动机器人的导航任务,通过优化机器人的轨迹来实现高效、安全的局部路径规划。 ## 项目的主要特性和功能 1. 路径规划优化使用g2o框架进行轨迹优化,支持多种约束条件,包括障碍物避碰、速度限制、加速度限制、路径最短、机器人运动学模型等。 2. 动态障碍物处理能够处理动态障碍物的移动,并实时更新路径规划。 3. 可视化支持提供丰富的可视化功能,包括路径、障碍物、机器人模型等的可视化。 4. 多轨迹管理支持多轨迹的管理和优化,选择最佳轨迹进行执行。 5. 速度和姿态控制提供精确的速度和姿态控制,确保机器人按照规划的路径平稳移动。 6. 路径规划图构建通过图搜索算法构建路径规划图,支持深度优先搜索和概率路线图方法。 ## 安装使用步骤

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