A lightweight motion planning algorithm according to Fast_planner, no obstacle avoidance function, but according to the input sequence of points to plan a smooth trajectory.
A lightweight motion planning algorithm according to Fast_planner, no obstacle avoidance function, but according to the input sequence of points to plan a smooth trajectory.
sudo apt-get install libnlopt-dev libarmadillo-dev
cd ${YOUR_WORKSPACE_PATH}/src
git clone https://github.com/NPU-RCIR/co-pp_plan.git
cd ../
catkin_make
source devel/setup.bash
roslaunch pass_point_plan plan_pp.launch
You can modify the number and coordinates of path points in the launch file to make the final optimized trajectory pass through these path points and meet the requirements of smoothness and dynamic feasibility.
