Hybrid A*路径规划器的代码注释

项目主页

https://github.com/teddyluo/hybrid-a-star-annotation

参考文献有：

• DOLGOV D, THRUN S, MONTEMERLO M, et al. Practical search techniques in path planning for autonomous driving[J]. Ann Arbor, 2008, 1001(48105):18-80.
• KURZERK.PathPlanninginUnstructuredEnvironments:AReal-timeHybridA*Implementation for Fast and Deterministic Path Generation for the KTH Research Concept Vehicle[Z].2016.
• OK K, ANSARI S, GALLAGHER B, et al. Path planning with uncertainty: Voronoi uncertainty fields[C]//2013 IEEE International Conference on Robotics and Automation. 2013:4596-4601.
• DOLGOV D, THRUN S. Autonomous driving in semi-structured environments: Mapping and planning[C]//2009 IEEE International Conference on Robotics and Automation. 2009:3407-3414.
• DOLGOVD,THRUNS,MONTEMERLOM,etal.Pathplanningforautonomousvehiclesin unknown semi-structured environments[J]. The International Journal of Robotics Research, 2010, 29(5):485-501.
• 齐尧, 徐友春, 李华, 等. 一种基于改进混合 A* 的智能车路径规划算法[J]. 军事交通学院学报, 2018(2018 年 08):85-90.

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• 因个人精力有限不是每个功能都详细注释
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