https://github.com/hongtai-yuan/informed_rrtstar_with_bezier
该存储库实现了使用贝塞尔曲线优化的Informed RRT*（快速探索随机树）算法，并将其集成到 ros2 humble 版本的 nav2 路径规划器中。但目前有些问题，因为在nav2中路径规划器和路径平滑器是两个不同的部分，应该分开使用。
https://github.com/hongtai-yuan/informed_rrtstar_with_bezier
bezier-curves informed-rrt-star planning ros2-humble rrt-star
Last synced: about 1 month ago
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该存储库实现了使用贝塞尔曲线优化的Informed RRT*（快速探索随机树）算法，并将其集成到 ros2 humble 版本的 nav2 路径规划器中。但目前有些问题，因为在nav2中路径规划器和路径平滑器是两个不同的部分，应该分开使用。
- Host: GitHub
- URL: https://github.com/hongtai-yuan/informed_rrtstar_with_bezier
- Owner: Hongtai-Yuan
- Created: 2024-11-15T07:07:12.000Z (6 months ago)
- Default Branch: main
- Last Pushed: 2025-01-25T13:55:09.000Z (4 months ago)
- Last Synced: 2025-03-25T08:22:32.943Z (about 2 months ago)
- Topics: bezier-curves, informed-rrt-star, planning, ros2-humble, rrt-star
- Language: C++
- Homepage:
- Size: 254 KB
- Stars: 8
- Watchers: 1
- Forks: 0
- Open Issues: 1
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Metadata Files:
- Readme: README.md
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README
# Informed_RRTstar_With_Bezier
The repository implements the informed RRT*(rapidly exploring random tree) algorithm optimized using Bezier curve and integrates it in the nav2 path planner under ros2 humble.
## use the Informed RRT* for path planning
## use the third-order Bezier curve to smooth the path
## Use Informed-RRTstar-with-Bezier
```bash
$ git clone https://github.com/Y250HT/Informed-RRTstar-with-Bezier.git
$ cd Informed-RRTstar-with-Bezier
$ colcon build
$ . install/setup.bash
$ ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False params_file:=YOUDIRECTORY/Informed-RRTstar-with-Bezier/nav2_params.yaml
```