基于搜索的规划库
https://github.com/sbpl/sbpl
ROS习得之SBPL软件包调用流程说明
https://blog.csdn.net/shuimiaofeng/article/details/78977247
路径规划-运动基元-SBPL
https://blog.csdn.net/qq_31815513/article/details/85090357
关于路径规划SBPL
https://www.jianshu.com/p/c6742961a779