Piecewise Jerk Path Optimizer的python实现 ce758b3840a84d069264848dfb88dde6
Piecewise Jerk Path Optimizer的python实现Piecewise Jerk Path Optimizer的相关知识点可参考文末的两篇文章,本文主要是进行该算法的问题构造和实现。cost functionJ=wx∑i=0n−1(xi−ri)2+wx′∑i=0n−1(xi′)2+wx′′∑i=0n−1(xi′′)2+wx′′′∑i=0n−2(xi′′′)2J=w_x\sum^{n-1}_{i=0}(x_i-r_i)^2+w_{x'}\sum^{n-1}_{i=0}(x'_i)
原创
2021-09-08 23:50:06 ·
1040 阅读 ·
0 评论