无人机激光雷达的路径规划仿真

项目链接：gitee-飞行器信息系统课程设计
这个题目的说明：无人机路径规划

无人机从红色的起点出发，朝向蓝色的终点飞行，但是事先不知道环境地图（障碍物）的分布。

假设无人机上装备了激光雷达，能够探测一定范围内的障碍物信息

当前探测到的障碍物用红色显示
还未探测到的障碍物用灰色显示
已经探测到的障碍物用黑色显示

无人机利用A * 算法规划当前认为可行的路径，绿色的线段

但是随着探测范围扩大，无人机在飞行过程发现，利用之前规划的路线无法达到目标点，则需要重新规划路径

利用上述方法，不断探测障碍物，并不断规划路径，无人机最终到达目标点

详细的每一步需要参考每个文件夹的README说明文档；

这里只放出最后的总结；

1 动态地图

即根据自身位置，设置无人机只知道自身某半径范围内的所有地图

2 动态规划

由于截至12-10日，雷达的仿真已经实现，现可以开始最后一步的设计，即动态规划；

需要详细考虑一下数据流

首先，无人机位于起始位置，该点已知；将该点的pos传入雷达地图获取函数；
生成一定半径以内探测到的障碍物grid，应该有两个grid，一个为0-1用于A*，一个保留0-2便于生成图片
grid和pos用于A*算法，grid应是一个建图的过程；
在每一次建图完成后，跑一次A*，把Path入栈保存；在这次跑完的A star的Path中，断不会有与障碍物重叠的点；
对于pos路径的下一个节点，就是存在Path中的节点，从pos往下的一个，作为pos传给雷达扫描建图函数，更新0-1数组地图；
对于Path中当前点到终点，判断是否有的点在地图上为障碍物了，如果一旦出现，以当前位置为起始位置，再次开始A star，Path入stack

基本是这样；

3 结果

4 Header

//
// Created by hazyparker on 2021/12/10.
//#ifndef INC_5_FINAL_SOLUTION_H
#define INC_5_FINAL_SOLUTION_H
#include "cmath"
#include <array>
#include <chrono>
#include <cstring>
#include <iostream>
#include <queue>
#include <set>
#include <stack>
#include <tuple>
#include <vector>
#include <utility>
#include <opencv2/opencv.hpp>using namespace std;
using namespace cv;typedef pair<int, int> Pair;
typedef vector<vector<int>> Vec2int;
typedef tuple<bool, int, int, int> PathVar;class Solution {private:int ROW;int COL;Pair StartPoint;Pair EndPoint;stack<Pair> DynamicPath;// FIXME: cannot define vector in class? like vector<int> vec; have to be vec = vector<int>(100)// reference:// https://stackoverflow.com/questions/70332332/how-to-use-vector-as-a-private-member-in-class-to-store-and-pass-data/70332667#70332667// however, it's still not fixedVec2int map_vector;Vec2int radar_vector;Vec2int check_vector;Vec2int show_vector;public:Solution():ROW{ 100 },COL{ 100 },map_vector(ROW, vector<int>(COL)),radar_vector(ROW, vector<int>(COL)),check_vector(ROW, vector<int>(COL)),show_vector(ROW, vector<int>(COL)),StartPoint({10, 10}),EndPoint({90, 90}){}// A structure to hold the necessary parametersstruct cell {// Row and Column index of its parentPair nodeParent;// f = g + hdouble cost_f, cost_g, cost_h;cell():nodeParent(-1, -1), cost_f(-1), cost_g(-1), cost_h(-1){}};/*** set start point in coordinate position, then trans to array pos* @param x corPos x* @param y corPos y*/void setStartPoint(int x, int y);/*** set end point in coordinate position, then trans to array pos* @param x corPos x* @param y corPos y*/void setEndPoint(int x, int y);/*** transfer coordinate position to (i, j) display in array which starting at [0]* @param corPos pair(STL, C++) coordinate position of a point* @return array position*/static Pair cor2ArrayPos(Pair corPos);/*** check whether given cell (row, col) is a valid cell or not.* @param grid* @param point* @return bool*/bool isValid(const vector<vector <int>> &grid, const Pair& point) const;/*** A Utility Function to check whether the given cell is blocked or not* @param grid* @param point* @return*/bool isUnBlocked(const vector<vector <int>> &grid, const Pair& point) const;/*** A Utility Function to check whether destination cell has been reached or not* @param position* @param dest* @return*/bool isDestination(const Pair& position);/*** A Utility Function to calculate the 'h' heuristics* @param src* @param dest* @return*/static double calculateHValue(const Pair& src, const Pair& dest);/*** transfer vector<vector<int>> to gray scale Mat(image)* @param grid* @return Mat mat*/Mat vector2ObstacleMap(Vec2int &grid) const;/*** read m_map array from file(mapName), write it in map_vector* @param mapName* @return map_vector*/Vec2int getVectorRawGrid(const string& mapName);/*** using erode function in openCV to add boundaries* @param grid* @return vector<vector<int>>*/Vec2int getVectorBoundaryGrid(Vec2int &grid) const;/*** transfer cv::Mat to vector<vector<int>>* @param src* @param m* @param n* @return*/static vector<vector<int>> mat2Vector(Mat &src, int m, int n);/*** transfer vector<vector<int>> to cv::Mat* @param vec* @return*/static Mat vector2Mat(vector<vector<int>> &vec);/*** Lidar Stimulation, fetch data from radar based on position currently* @param pos* @param Vec*/void fetchLidarData(Pair &pos, Vec2int &Vec);/*** merge Intervals* @param newRange* @param intervals* @return*/static vector<pair<double, double>> mergeInterval(const pair<double, double> &newRange,vector<pair<double, double>> &intervals);/*** check if the interval you input is included in intervals that you check* @param newRange* @param intervals* @return*/static bool checkInterval(const pair<double, double> &newRange,vector<pair<double, double>> &intervals);/*** calculate degree range of a RECT* assuming radar located at point_0, target pos is point_d* @param point_0* @param point_d* @return*/static pair<double, double> getThetaRange(Pair point_0, Pair point_d);/*** clear vector maps already scanned* cos 1 means visible and reachable, setting it as 1*/void clearRadarMap();/*** launch radar*/void launchRadar();/*** A star search while pos and grid is changing* @param pos* @param m_grid*/void dynamicSearch(Pair &pos, Vec2int &m_grid);/*** trace path when A star is finished* @param cellDetails* @param pos*/void dynamicTracePath(const vector<vector <cell>> &cellDetails, const Pair &pos);/*** check if there is Obstacle on Path calculated by A star* @param path* @return*/PathVar ifPathObstacle(vector<Pair> &path);/*** show path using openCV*/void showPath();
};#endif //INC_5_FINAL_SOLUTION_H

5 Main函数

#include "Solution.h"using namespace std;
using namespace cv;int main() {vector<vector<int>> grid;Solution solve;solve.getVectorRawGrid("test_1.map");solve.setStartPoint(40, 10);solve.setEndPoint(40, 90);solve.launchRadar();solve.showPath();return 0;
}

6 CMakeList

cmake_minimum_required(VERSION 3.21)
project(5_final)set(CMAKE_CXX_STANDARD 14)#  OpenCV
FIND_PACKAGE(OpenCV REQUIRED)
INCLUDE_DIRECTORIES({OpenCV_INCLUDE_DIRS})add_executable(5_final main.cpp AStarSearch.cpp AStarSearch.h readMap.cpp readMap.h testRadar.cpp testRadar.h Solution.cpp Solution.h)# link
TARGET_LINK_LIBRARIES(5_final ${OpenCV_LIBS})

7 Solution cpp

//
// Created by hazyparker on 2021/12/10.
//#include "Solution.h"
#include "cmath"
#include <array>
#include <chrono>
#include <cstring>
#include <iostream>
#include <queue>
#include <tuple>
#include <vector>
#include <utility>
#include <opencv2/opencv.hpp>using namespace std;
using namespace cv;typedef pair<int, int> Pair;
typedef vector<vector<int>> Vec2int;
typedef tuple<double, int, int> Tuple;
typedef tuple<bool, int, int, int> PathVar;vector<Pair> OverallPath;Vec2int Solution::getVectorRawGrid(const string& mapName) {string FILEPATH = "../../maps/" + mapName;const char *filepath = (char*)FILEPATH.data();// read mapint32_t m_mx, m_my, m_startX, m_startY, m_endX, m_endY;int8_t *m_map;Mat img;FILE        *fp;uint32_t    f_magic;// open filefp = fopen(filepath, "rb");if( fp == nullptr ) {printf("ERR: failed to open file %s!\n", filepath);exit(100);}// check file magic numberfread(&f_magic, sizeof(uint32_t), 1, fp);if( f_magic != 0x15432345 ) {printf("ERR: input file format is not correct! %s\n", filepath);goto MAP_LOAD_RET;}// read map nx, nyfread(&m_mx, sizeof(int32_t), 1, fp);fread(&m_my, sizeof(int32_t), 1, fp);ROW = m_mx;COL = m_my;// read mapm_map = new int8_t[m_mx * m_my];fread(m_map, sizeof(int8_t), m_mx * m_my, fp);// read start,end pointfread(&m_startX, sizeof(int32_t), 1, fp);fread(&m_startY, sizeof(int32_t), 1, fp);fread(&m_endX, sizeof(int32_t), 1, fp);fread(&m_endY, sizeof(int32_t), 1, fp);StartPoint = {m_startX, m_startY};EndPoint = {m_endX, m_endY};MAP_LOAD_RET:fclose(fp);int cols = m_mx;// Mat to Vector2intfor (int i = 0; i < m_mx; i++){for (int j = 0; j < m_my; j++){// 1 is reachable// 0 is blockedif (int(m_map[i * cols + j]) == 0){map_vector[i][j] = 1;}if (int(m_map[i * cols + j]) == 1){map_vector[i][j] = 0;}}}return map_vector;
}Pair Solution::cor2ArrayPos(Pair corPos) {Pair ArrayPos;ArrayPos.first = corPos.second - 1;ArrayPos.second = corPos.first - 1;return ArrayPos;
}void Solution::setStartPoint(int x, int y) {Pair corPos;corPos.first = x;corPos.second = y;StartPoint = cor2ArrayPos(corPos);
}void Solution::setEndPoint(int x, int y) {Pair corPos;corPos.first = x;corPos.second = y;EndPoint = cor2ArrayPos(corPos);
}bool Solution::isValid(const vector<vector<int>> &grid, const Pair &point) const {// Returns true if row number and column number is in rangeif (ROW > 0 && COL > 0)return (point.first >= 0) && (point.first < ROW)&& (point.second >= 0)&& (point.second < COL);else return false;
}bool Solution::isUnBlocked(const vector<vector<int>> &grid, const Pair &point) const {// Returns true if the cell is not blocked else falsereturn isValid(grid, point)&& grid[point.first][point.second] == 1;
}bool Solution::isDestination(const Pair &position) {return position == EndPoint;
}double Solution::calculateHValue(const Pair &src, const Pair &dest) {// h is estimated with the two points distance formulareturn sqrt(pow((src.first - dest.first), 2.0)+ pow((src.second - dest.second), 2.0));
}Mat Solution::vector2ObstacleMap(Vec2int &grid) const {Mat img, dst;img = Mat(ROW, COL, CV_8U, Scalar::all(255));// convert m_map to int, sending to imgfor (int i = 0; i < COL; i++){for (int j = 0; j < ROW; j++){img.at<uchar>(i, j) = grid[i][j] * 255;}}// erode, showing the edgeMat element = getStructuringElement(MORPH_RECT, Size(5, 5));erode(img, dst, element);// uplift the gray scale of edgesfor (int i = 0; i < COL; i++){for (int j = 0; j < ROW; j++){if(int(dst.at<uchar>(i, j)) == 0)dst.at<uchar>(i, j) = 200;}}// blend two images, using lower gray scale// consider using addWeight()for (int i = 0; i < COL; i++){for (int j = 0; j < ROW; j++){if(int(dst.at<uchar>(i, j)) == 200 && int(img.at<uchar>(i, j)) == 0)dst.at<uchar>(i, j) = 0;}}return dst;
}Vec2int Solution::getVectorBoundaryGrid(Vec2int &grid) const {Mat img, dst;vector<vector <int>> boundaryGrid(ROW, vector<int>(COL));img = vector2Mat(grid);Mat element = getStructuringElement(MORPH_RECT, Size(5, 5));erode(img, dst, element);boundaryGrid = mat2Vector(dst, ROW, COL);return boundaryGrid;
}vector<vector <int>> Solution::mat2Vector(Mat &src, int m, int n) {vector<vector <int>> transferredVector(m, vector<int>(n));vector<int> flatVector = src.reshape(1,1);// FIXME: how to transfer Mat to vector<vector>
//    transferredVector = flatVector.resize(m, 0);for (int i = 0; i < m; i++){for (int j = 0; j < m; j++){transferredVector[i][j] = int(src.at<uchar>(i, j));}}return transferredVector;
}Mat Solution::vector2Mat(vector<vector <int>> &vec) {Mat dst;dst = Mat(100, 100, CV_8U, Scalar::all(0));for (int i = 0; i < 100; i++){for (int j = 0; j < 100; j++){dst.at<uchar>(i, j) = vec[i][j];}}return dst;
}void Solution::fetchLidarData(Pair &pos, Vec2int &Vec) {// set radiusint radius = 40;int pos_i = pos.first;int pos_j = pos.second;// open Lidarpair<double, double> range;vector<pair<double, double>> degreeInterval;degreeInterval.emplace_back(0.001, 0.002);int i, j;for (int r = 1; r <= radius; r++){for (i = pos_i - r; i <= pos_i + r; i++){for (j = pos_j - r; j <= pos_j +r; j++){if (!isValid(map_vector, {i, j})) continue;if (abs(i - pos_i) + abs(j - pos_j) != r || map_vector[i][j] == 1) continue;range = getThetaRange(pos, {i, j});if (range.second > 314 && range.first < 46 && map_vector[i][j] == 0){degreeInterval = mergeInterval({0.0001, range.first}, degreeInterval);degreeInterval = mergeInterval({range.second, 359.9999}, degreeInterval);Vec[i][j] = 0;continue;}if (checkInterval(range, degreeInterval)){// if totally blocked by other obstacles, UAV was unaware of this obstacle// have to consider another situation, that this [i][j] had been checked before// and set as 0 which means unreachable, we can't make it invisible again in radar_map// however, in image shown as to having used radar, it should be erased again// that step is not necessary(for now)// if (radar_map[i][j] == 0) radar_map[i][j] = 0;// if (radar_map[i][j] == 1) radar_map[i][j] = 1;}else{Vec[i][j] = 0;}degreeInterval = mergeInterval(range, degreeInterval);}}}}vector<pair<double, double>> Solution::mergeInterval(const pair<double, double> &newRange,vector<pair<double, double>> &intervals) {// https://leetcode-cn.com/problems/merge-intervals/solution/he-bing-qu-jian-by-leetcode-solution/intervals.emplace_back(newRange);sort(intervals.begin(), intervals.end());vector<pair<double, double>> merged;for (auto & interval : intervals) {double L = interval.first, R = interval.second;if (merged.empty() || merged.back().second < L) {merged.emplace_back(L, R);}else {merged.back().second = max(merged.back().second, R);}}return merged;
}bool Solution::checkInterval(const pair<double, double> &newRange,vector<pair<double, double>> &intervals) {bool value = false;if (intervals.empty()){return false;}sort(intervals.begin(), intervals.end());double left = newRange.first;double right = newRange.second;for (auto & interval : intervals){if (left >= interval.first && right <= interval.second){value = true;break;}}return value;
}pair<double, double> Solution::getThetaRange(Pair point_0, Pair point_d){// point_0 center// point_d paradouble PI = 3.1415926;pair<double, double> range;int i_0 = point_0.first;int j_0 = point_0.second;int i_d = point_d.first;int j_d = point_d.second;// save thetadouble theta[4] = {0, 0, 0, 0};// range change from (-PI, PI) to (0, 2PI)// FIXME: special definition around -PItheta[0] = atan2(i_d + 0.5 - i_0, j_d + 0.5 - j_0) * 180 / PI + 180;theta[1] = atan2(i_d + 0.5 - i_0, j_d - 0.5 - j_0) * 180 / PI + 180;theta[2] = atan2(i_d - 0.5 - i_0, j_d + 0.5 - j_0) * 180 / PI + 180;theta[3] = atan2(i_d - 0.5 - i_0, j_d - 0.5 - j_0) * 180 / PI + 180;sort(theta, theta + 4);// if theta[3] >= 315, i_0 == i_d (for sure)// send to pair rangerange.second = theta[3];range.first = theta[0];if (theta[3] > 340 && theta[0] < 19){range.second = theta[2];range.first = theta[1];}return range;
}void Solution::clearRadarMap() {cout << "map cleared" << endl;for (int i = 0; i < ROW; i++){for (int j = 0; j < COL; j++){radar_vector[i][j] = 1;check_vector[i][j] = 1;show_vector[i][j] = 1;}}
}void Solution::launchRadar() {// clear all obstacles, forming a new mapclearRadarMap();// initialize start point as StartPointPair pos = StartPoint;fetchLidarData(pos, radar_vector);int number = 0;cout << "into loop launch.." << endl;while(pos != EndPoint){// clear check_vectorfor (int i = 0; i < ROW; i++){for (int j = 0; j < COL; j++){check_vector[i][j] = 1;}}cout << "loop:" << number << endl;number = number + 1;printf("(%d, %d) pos\n", pos.first, pos.second);// store path in stack DynamicStackdynamicSearch(pos, radar_vector);// test if obstacle on pathvector<Pair> path;while(!DynamicPath.empty()){Pair p = DynamicPath.top();DynamicPath.pop();path.emplace_back(p);}cout << "path data read in..." << endl;for (auto & i : path){cout << "data in path:" << i.first << ", " << i.second << endl;}PathVar message = ifPathObstacle(path);cout << get<0>(message) << endl;if (get<0>(message)){// update pos to last onepos = {get<1>(message), get<2>(message)};int num = get<3>(message);for (int i = 0; i <= num; i++){fetchLidarData(path[i], radar_vector);OverallPath.emplace_back(path[i]);cout << path[i].first << ", " << path[i].second << endl;}}if (!get<0>(message)){for (auto & i : path){OverallPath.push_back(i);}pos = EndPoint;cout << "end founded..." << endl;}}}void Solution::dynamicSearch(Pair &pos, Vec2int &m_grid) {// set begin timechrono::steady_clock::time_point t1 = chrono::steady_clock::now();Vec2int grid(ROW, vector<int>(COL));grid = getVectorBoundaryGrid(m_grid);// If the source is out of rangeif (!isValid(grid, StartPoint)) {printf("Source is invalid\n");return;}// If the destination is out of rangeif (!isValid(grid, EndPoint)) {printf("Destination is invalid\n");return;}// Either the source or the destination is blockedif (!isUnBlocked(grid, StartPoint)|| !isUnBlocked(grid, EndPoint)) {printf("Source or the destination is blocked\n");return;}// If the destination cell is the same as source cellif (isDestination(StartPoint)) {printf("We are already at the destination\n");return;}// describe detail of each cell// using struct definedvector<vector <cell>> cellDetails(ROW, vector<cell>(COL));int i, j;// Initialising the parameters of the starting nodei = pos.first, j = pos.second;cellDetails[i][j].cost_f = 0.0;cellDetails[i][j].cost_g = 0.0;cellDetails[i][j].cost_h = 0.0;cellDetails[i][j].nodeParent = {i, j};// Create a closed list and initialise it to falsebool closedList[ROW][COL];memset(closedList, false, sizeof(closedList));/*** Create an open list having information as <f, <i, j>>* where f = g + h,* and i, j are the row and column index of that cell* Note that 0 <= i <= ROW-1 & 0 <= j <= COL-1* This open list is implemented as a set of tuple*/priority_queue<Tuple, vector<Tuple>, greater<> > openList;// Type: Tuple// Container: vector// Functional: greater, least f will be on top of the queueopenList.emplace(0.0, i, j);while(!openList.empty()){const Tuple& p = openList.top(); // first time, it will be start point// Add this vertex to the closed listi = get<1>(p); // second element of tuplej = get<2>(p); // third element of tuple// remove this vertex from open list and send it to close listopenList.pop();closedList[i][j] = true;for (int add_x = -1; add_x <= 1; add_x++) {for (int add_y = -1; add_y <= 1; add_y++) {Pair neighbour(i + add_x, j + add_y);if (!isValid(grid, neighbour)){return;}if (isDestination(neighbour)){// set parent of destination cellcellDetails[neighbour.first][neighbour.second].nodeParent = {i, j};// print pathcout << "destination is found!" << endl;dynamicTracePath(cellDetails, pos);// set end time and showchrono::steady_clock::time_point t2 = chrono::steady_clock::now();chrono::duration<double> time_used = chrono::duration_cast<chrono::duration<double>>(t2 - t1);cout << "solve time cost = " << time_used.count() << " seconds. " << endl;// endreturn;}else if (!closedList[neighbour.first][neighbour.second]&& isUnBlocked(grid, neighbour)){// update weight valuesdouble f_updated, g_updated, h_updated;g_updated = cellDetails[i][j].cost_g + sqrt(pow(add_x, 2.0) + pow(add_y, 2.0));h_updated = calculateHValue(neighbour, EndPoint);f_updated = g_updated + h_updated;// send less f_updated to open listdouble temp_cost_f = cellDetails[neighbour.first][neighbour.second].cost_f;if (f_updated < temp_cost_f || temp_cost_f == -1){// -1 referring that this node doesn't belong to open list, shall be added in// f_updated is less, shall be added in open list// at first I was concerning about the StartPoint, then I just realized that// StartPoint has been thrown into close listopenList.emplace(f_updated, neighbour.first, neighbour.second);// update cost f, g, h and parent node of cellDetailscellDetails[neighbour.first][neighbour.second].cost_f = f_updated;cellDetails[neighbour.first][neighbour.second].cost_g = g_updated;cellDetails[neighbour.first][neighbour.second].cost_h = h_updated;// set parent of successors(not in Close list and is unblocked)cellDetails[i + add_x][j + add_y].nodeParent = {i, j};/*** why updating parent node must exist here?* if you actually put this update under definition of neighbour, some path might be confusing* set updating here can assure that each node parent heading for gradient lifting* namely f in decline*/}}}}}}void Solution::dynamicTracePath(const vector<vector <cell>> &cellDetails, const Pair &pos) {cout << "trace started..." << endl;int i = EndPoint.first;int j = EndPoint.second;Pair temp_node;while(cellDetails[i][j].nodeParent != pos){DynamicPath.push({i, j});temp_node = cellDetails[i][j].nodeParent;// i = cellDetails[i][j].nodeParent.first is illegal!i = temp_node.first;j = temp_node.second;}DynamicPath.push({i, j});// push StartPoint into StackDynamicPath.push(pos);cout << "trace finished" << endl;
}PathVar Solution::ifPathObstacle(vector<Pair> &path){PathVar message;bool seg;// FIXME: check_map not bestfor (int n = 0; n < path.size(); n++){int i = path[n].first;int j = path[n].second;Pair pos = {i, j};fetchLidarData(pos, check_vector);for (auto & k : path){if (check_vector[k.first][k.second] == 0){seg = true;get<1>(message) = i;get<2>(message) = j;get<3>(message) = n;get<0>(message) = seg;printf("(%d, %d) is on obstacle\n", k.first, k.second);return message;}else{seg = false;get<0>(message) = seg;}}}return message;
}void Solution::showPath() {for (int i = 0; i < ROW; i++){for (int j = 0; j < COL; j++){show_vector[i][j] = 1;}}Mat img;img = Mat(100, 100, CV_8UC3, Scalar::all(255));Vec2int temp_map (ROW, vector<int>(COL));for (auto & i : OverallPath){fetchLidarData(i, show_vector);temp_map = getVectorBoundaryGrid(show_vector);for (int x = 0; x < ROW; x++){for (int y = 0; y < COL; y++){if (show_vector[x][y] == 0) img.at<Vec3b>(x, y) = {0, 0, 0};if (show_vector[x][y] == 1 && temp_map[x][y] == 0)img.at<Vec3b>(x, y) = {0, 128, 128};}}img.at<Vec3b>(i.first, i.second) = {0, 255, 0};img.at<Vec3b>(StartPoint.first, StartPoint.second) = {255, 0, 0};img.at<Vec3b>(EndPoint.first, EndPoint.second) = {0, 0, 255};namedWindow("dst", WINDOW_NORMAL);imshow("dst", img);waitKey(100);}}

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⛄一.获取代码方式获取代码方式1: 通过订阅紫极神光博客付费专栏,凭支付凭证,私信博主,可获得此代码. 获取代码方式2: 完整代码已上传我的资源:[A_star二维路径规划]基于matlab A_s ...
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⛄一.无人机简介 0 引言随着现代技术的发展,飞行器种类不断变多,应用也日趋专一化.完善化,如专门用作植保的大疆PS-X625无人机,用作街景拍摄与监控巡察的宝鸡行翼航空科技的X8无人机,以及用作水 ...
一.路径规划---二维路径规划仿真实现-gmapping+amcl+map_server+move_base
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⛄一.无人机简介 0 引言随着现代技术的发展,飞行器种类不断变多,应用也日趋专一化.完善化,如专门用作植保的大疆PS-X625无人机,用作街景拍摄与监控巡察的宝鸡行翼航空科技的X8无人机,以及用作水 ...
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⛄一.A_star算法简介 0 引言随着现代技术的发展,飞行器种类不断变多,应用也日趋专一化.完善化,如专门用作植保的大疆PS-X625无人机,用作街景拍摄与监控巡察的宝鸡行翼航空科技的X8无人机, ...
python路径规划仿真实验_【python实战】批量获得路径规划——高德地图API
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