rrt算法:n维RRT,RRT *(RRT-Star)-源码

上传者: 42175035 | 上传时间: 2021-03-30 16:21:17 | 文件大小: 34KB | 文件类型: ZIP
rrt 基于rrt的算法的集合,可扩展到n维: rrt rrt *(rrt-star) rrt *(双向) rrt *(惯用的,延迟的缩短) rrt连接 利用避免了逐点碰撞检查和距离检查,从而提高了性能。 要求 (仅用于绘图) 用法 定义一个n维搜索空间,以及该空间内的n维障碍物。 在测试与目标的连通性之前,分配开始和目标位置以及迭代次数以扩展树,并指定最大总体迭代次数。 搜索空间 以以下形式为搜索空间分配边界: [(x_lower, x_upper), (y_lower, y_upper), ...] 开始和目标 由以下形式的元组表示的点: (x, y, ...) 障碍物 由以下形式的元组表示的与轴对齐的(超)矩形(x_lower, y_lower, ..., x_upper, y_upper, ...) 非轴对齐的(超)矩形或其他障碍物表示形式也应起作用,前提是已更新collision_free和obstacle_free以与新障碍物一起使用。 解析度 分配边的分辨率: q :距要探测的现有顶点的距离。 r :沿边缘采样以检查碰撞时用于边缘的离散长度。 较高的数字

文件下载

资源详情

[{"title":"( 32 个子文件 34KB ) rrt算法:n维RRT,RRT *(RRT-Star)-源码","children":[{"title":"rrt-algorithms-master","children":[{"title":"src","children":[{"title":"utilities","children":[{"title":"obstacle_generation.py <span style='color:#111;'> 2.37KB </span>","children":null,"spread":false},{"title":"geometry.py <span style='color:#111;'> 1.68KB </span>","children":null,"spread":false},{"title":"plotting.py <span style='color:#111;'> 7.00KB </span>","children":null,"spread":false}],"spread":true},{"title":"rrt","children":[{"title":"rrt.py <span style='color:#111;'> 1.62KB </span>","children":null,"spread":false},{"title":"rrt_star_bid.py <span style='color:#111;'> 4.76KB </span>","children":null,"spread":false},{"title":"rrt_base.py <span style='color:#111;'> 6.28KB </span>","children":null,"spread":false},{"title":"rrt_star_bid_h.py <span style='color:#111;'> 5.27KB </span>","children":null,"spread":false},{"title":"rrt_connect.py <span style='color:#111;'> 2.76KB </span>","children":null,"spread":false},{"title":"tree.py <span style='color:#111;'> 385B </span>","children":null,"spread":false},{"title":"heuristics.py <span style='color:#111;'> 1010B </span>","children":null,"spread":false},{"title":"rrt_star.py <span style='color:#111;'> 4.75KB </span>","children":null,"spread":false}],"spread":true},{"title":"search_space","children":[{"title":"search_space.py <span style='color:#111;'> 3.01KB </span>","children":null,"spread":false}],"spread":true}],"spread":true},{"title":"examples","children":[{"title":"rrt_connect","children":[{"title":"rrt_connect_3d_with_random_obstacles.py <span style='color:#111;'> 1.25KB </span>","children":null,"spread":false},{"title":"rrt_connect_3d.py <span style='color:#111;'> 1.34KB </span>","children":null,"spread":false},{"title":"rrt_connect_2d.py <span style='color:#111;'> 1.18KB </span>","children":null,"spread":false},{"title":"rrt_connect_2d_with_random_obstacles.py <span style='color:#111;'> 1.22KB </span>","children":null,"spread":false}],"spread":true},{"title":"rrt_bid_h","children":[{"title":"rrt_star_bid_h_3d.py <span style='color:#111;'> 1.45KB </span>","children":null,"spread":false},{"title":"rrt_star_bid_h_3d_with_random_obstacles.py <span style='color:#111;'> 1.36KB </span>","children":null,"spread":false},{"title":"rrt_star_bid_h_2d.py <span style='color:#111;'> 1.29KB </span>","children":null,"spread":false}],"spread":true},{"title":"rrt","children":[{"title":"rrt_2d_with_random_obstacles.py <span style='color:#111;'> 1.17KB </span>","children":null,"spread":false},{"title":"rrt_3d_with_random_obstacles.py <span style='color:#111;'> 1.19KB </span>","children":null,"spread":false},{"title":"rrt_2d.py <span style='color:#111;'> 1.13KB </span>","children":null,"spread":false},{"title":"rrt_3d.py <span style='color:#111;'> 1.29KB </span>","children":null,"spread":false}],"spread":true},{"title":"rrt_bid","children":[{"title":"rrt_star_bid_3d.py <span style='color:#111;'> 1.44KB </span>","children":null,"spread":false},{"title":"rrt_star_bid_2d.py <span style='color:#111;'> 1.27KB </span>","children":null,"spread":false}],"spread":true},{"title":"rrt_star","children":[{"title":"rrt_star_3d.py <span style='color:#111;'> 1.39KB </span>","children":null,"spread":false},{"title":"rrt_star_2d.py <span style='color:#111;'> 1.23KB </span>","children":null,"spread":false},{"title":"rrt_star_3d_with_random_obstacles.py <span style='color:#111;'> 1.29KB </span>","children":null,"spread":false},{"title":"rrt_star_2d_with_random_obstacles.py <span style='color:#111;'> 1.27KB </span>","children":null,"spread":false}],"spread":true}],"spread":true},{"title":"LICENSE <span style='color:#111;'> 1.05KB </span>","children":null,"spread":false},{"title":"README.md <span style='color:#111;'> 2.40KB </span>","children":null,"spread":false},{"title":".gitignore <span style='color:#111;'> 3.43KB </span>","children":null,"spread":false}],"spread":true}],"spread":true}]

评论信息

免责申明

【只为小站】的资源来自网友分享,仅供学习研究,请务必在下载后24小时内给予删除,不得用于其他任何用途,否则后果自负。基于互联网的特殊性,【只为小站】 无法对用户传输的作品、信息、内容的权属或合法性、合规性、真实性、科学性、完整权、有效性等进行实质审查;无论 【只为小站】 经营者是否已进行审查,用户均应自行承担因其传输的作品、信息、内容而可能或已经产生的侵权或权属纠纷等法律责任。
本站所有资源不代表本站的观点或立场,基于网友分享,根据中国法律《信息网络传播权保护条例》第二十二条之规定,若资源存在侵权或相关问题请联系本站客服人员,zhiweidada#qq.com,请把#换成@,本站将给予最大的支持与配合,做到及时反馈和处理。关于更多版权及免责申明参见 版权及免责申明