这里介绍一个local planner,论文是这篇Elastic Bands: Connecting Path Planning and Control
目前我们的一些规划的方法主要思想就是先规划出Path,接着根据Path生成Trajectory,让机器人跟着(tracking)这个Trajectory走就不会有事。
主要介绍了Elastic Bands这种Connecting Path Planning and Control的方法
首先简介了一些传统方法的解决问题的办法
1.The conventional solution is first to convert the path to a trajectory by time parameterization, then to track the trajectory. Path planners are often designed to find any feasible path, with little attention to its suitability for execution. Even if the time optimal parametrization is used,
the path may have abrupt changes in direction or maintain little clearance from obstacles, requiring the robot to move slowly
一些path planner也就是global_planner很少会去考虑机器人的运动,所以在有一些场景下面只能让机器人走的很慢去解决这个问题
2.In addition, if the controller is to implement some sort of real-time obstacle avoidance scheme then it must be able to deviate from the path. Once the robot is off the path, however,