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版主您好,最近也在研究HAstar相关方案,请问您当时这个repo实现方法是否有参考已有的工程或者文献,或者您是否有根据这个工程发表了相关论文可供学习,如能提供,不胜感激
The text was updated successfully, but these errors were encountered:
您好!初始解的搜索就是用的hybrid Astar,然后进行路径优化,优化部分参考了阿波罗的路径优化方案。目标函数考虑路径紧凑度、平顺度、偏移度。这个开源项目只是一些个人的工程实践,没有发表论文。速度规划只是简单的用了三角函数,把轨迹作为初始解然后再进行优化求解。
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版主您好,最近也在研究HAstar相关方案,请问您当时这个repo实现方法是否有参考已有的工程或者文献,或者您是否有根据这个工程发表了相关论文可供学习,如能提供,不胜感激
The text was updated successfully, but these errors were encountered: