局部RRT路径规划matlab代码-RoboticsProject:这将与百特实现避障

上传者: 38644141 | 上传时间: 2021-06-30 16:22:13 | 文件大小: 33.05MB | 文件类型: ZIP
局部RRT路径规划matlab代码机器人项目 这将通过百特实现避障。 路径规划器-RRT RRT目录包含运行rrt_7d.py所需的文件,该文件通过如下定义的障碍物计算7d路径:(q1_lower,q2_lower,...,qNlower,q1_upper,q2_upper,...,qN_upper) 其余文件是从SZanlongo分叉的,并进行了修改以创建7d路径规划器。 要求 (仅用于绘图) 安装注意事项-pip3 install rtree对我不起作用,但是sudo apt install python3-rtree对我来说不起作用。 pip3 install适用于其他依赖项。 这是pip安装随附的错误消息:/ tmp / pip-build-541ysx / rtree /中的命令“ python setup.py egg_info”失败,错误代码为1 碰撞检测 使用在此处找到的GJK碰撞检测:(复制到项目中)使用简单的3D点云,定义了手臂的碰撞圆柱体,并使用了一个用于Baxter身体的盒子,一个用于地板的薄盒子以及一个用于障碍物的球体。 仅检查可能发生的碰撞。 使用MATLA

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