boustrophedon_planner:覆盖范围路径规划器-源码

上传者: 42122881 | 上传时间: 2021-08-25 22:09:53 | 文件大小: 228KB | 文件类型: ZIP
C++
Boustrophedon规划师 Boustrophedon Planner是一个覆盖路径规划器,它实现了改进的蜂窝分解算法。 原始文件可以在找到。 概述 路径规划器是一个actionlib服务器,它接收geometry_msgs/PolygonStamped和geometry_msgs/PoseStamped ,并返回StripingPlan消息,该消息包含用于geometry_msgs/PoseStamped传入的多边形的路点列表。 变更日志 2020年1月23日: Boustrophedon规划器现在可以处理给定的所有类型的简单多边形,包括凸形和凹形。 支持内部边界,使计划人员可以在距初始给定边界一定偏移处创建路径。 支持“半-Y”转弯,允许在路径的开始/结束处有一定的弯曲度,以辅助不完全完整的机器人。 许多新的启动文件参数使用户可以更精确地指定他们希望计划具有的行为 执照

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