MPC算法控制车辆的运动轨迹

读书笔记《无人驾驶车辆模型预测控制》- 龚建伟

要学习无人机规划算法，首先要理解地图的表示形式，个人认为这是非常关键的一步。该代码包括了Voxblox地图表示、全局规划、局部规划、路径平滑等算法，对于规划初学者来说是一个很好的学习资料。 论文链接: [1] Voxblox: Incremental 3D Euclidean Signed Distance Fields for On-Board MAV Planning [2] Continuous-Time Trajectory Optimization for Online UAV Replanning [3] Receding horizon path planning for 3D exploration and surface inspection [4] Safe Local Exploration for Replanning in Cluttered Unknown Environments for Micro-Aerial Vehicles [5] Sparse 3D Topological Graphs for Micro-Aerial Vehicle

通过贝塞尔曲线实现连续节点平滑曲线