Generating heat map (cost map) with Octomap based on euclidean distance transform
Generating heat map (cost map) with Octomap based on euclidean distance transform Read More »
Rapidly-exploring random trees (RRT) and their variant are a very power solution for solving motion planning problem in robotics, but they suffer from finding an optimise solution and the generated path is usually jerky with redundant movements. Sample based-optimisation-based planners benefit the robustness of RRT and the possibility of imposing a cost function. Here in this work, I
Sample based-optimisation-based planner with signed distance fields cost map Read More »