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