OMPL中的规划算法汇总

OMPL简介

• The Open Motion Planning Library(OMPL)是基于采样方法的开源运动规划库，其规划算法可以分为两类：
• Geometric planners
• Control-based planners

特性：基于采样，概率完备，非最优/渐进最优

Move it!和OMPL的关系：

• OMPL is a open source library for sampling based / randomized motion planning algorithms. Sampling based algorithms are probabilistically complete: a solution would be eventually found if one exists, however non-existence of a solution cannot be reported. These algorithms are efficient and usually find a solution quickly. OMPL does not contain any code related to collision checking or visualization as the designers of OMPL did not want to tie it to a any particular collision checker or visualization front end. The library is de