kpm代码使用细节

最新推荐文章于 2022-04-26 14:52:10 发布

WX Chen

最新推荐文章于 2022-04-26 14:52:10 发布

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分类专栏：机器人路径规划

本文链接：https://blog.csdn.net/kl1411/article/details/57131666

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kpm的文章看过后，照例跑跑代码，细节如下

We keep the implementations of all multi-robot motion planning algorithms in a library called deconflictiontools, see: http://jones.felk.cvut.cz/redmine/projects/deconflictiontools/wiki/Wiki

The source code of this library can be downloaded through mercurial:

hg clone http://jones.felk.cvut.cz/repo/alite-deconflictiontools

The implementation of kPM is in that library, specifically you may want to start in class tt.jointeuclid2ni.solver.impl.AlgorithmDPMD, which is an implementation of kPM that uses a graph-based motion planner to plan for each robot at each step.

mercurial是一个工具，用sudo apt-get install mercurial 安装

在solvers里，只用于scenarios里的两个例子

进入kpm-experiments-master\solvers

输入 mvn package

生成 target/kpm-experiments-1.0-SNAPSHOT-jar-with-dependencies.jar

输入

java -jar solvers/target/kpm-experiments-1.0-SNAPSHOT-jar-with-dependencies.jar -method KDPMD -k 20 -problemfile scenarios/headson.xml -maxtime 21000 -timestep 21 -showvis -summary

或者（不同xml文件）

java -jar solvers/target/kpm-experiments-1.0-SNAPSHOT-jar-with-dependencies.jar -method KDPMD -k 20 -problemfile scenarios/swap-in-corridor.xml -maxtime 21000 -timestep 21 -showvis -summary