Wang teacher Maria route planning study reviewed the video study notes, see the original bubble robot SLAM public number.
The concept of path planning
Or based on a certain optimization criteria (such as the cost of the work, the shortest routes, the shortest travel time, etc.), one can find the optimal path to avoid obstacles from the initial state to target state in its workspace.
Path planning Classification Overview
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Path Planning Category
Path planning in a static structured environment
Known path planning in dynamic environment
Path planning in dynamic uncertain environment
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Path planning algorithm classification
D * A * algorithm and algorithm
Features A * algorithm: A * algorithm is theoretically the best time, but space is exponential growth level.
D * algorithm, applied to the search in a dynamic environment
Artificial potential field (APF)
Potential field method is a common local path planning.
Advantages: easy to control the underlying real-time, real-time obstacle avoidance control and smooth a locus, has been widely used.
Disadvantages:
- When the object is relatively far from the target point, gravity will become particularly large, relatively small in the case of repulsion or even negligible, may encounter obstacles in the path of an object
- When there is an obstacle near the target point, repulsion will be very large, gravity is relatively small, the object is difficult to achieve the target point.
- At some point, attraction and repulsion just equal and opposite directions, the object falling into local optimal solution or shock.
Quick Search Random Tree (RRT)
Advantages: mainly depends on the complexity of the difficulty to find the path, with the dimension of the size of the scene throughout the planning and configuration space is substantially independent.
Disadvantages: RRT substantially free of bias in the spatial extension randomly; non-optimal path output path
NEXT
The next section need to figure out what is the motion planning, motion planning position in robotic systems and unmanned systems, its relationship with the path planning.