ANYmal Rough Terrain Planner

局部规划器

Dependencies

Names Function
OMPL 规划框架
ODE 碰撞检测
OpenCV 图像处理
grid_map_core 地图数据
Boost Graph/A*

Terminology

  • Clearance : 机器人与障碍物的距离
  • Milestone : 图的节点

OMPL

LazyPRM is a planner that constructs a roadmap of milestones that approximate the connectivity of the state space, just like PRM does. The difference is that the planner uses lazy collision checking.

An OMPL Tutorial with Examples

Tech Areas

  • Mobility (S3.1)
    • Walking & Flying Robots
  • Perception (S3.2)
    • Calibration
    • SLAM
    • Elevation Mapping
  • Autonomy
    • Exploration Planner
    • Navigation Planner
    • BT
  • Networking
  • Artifacts Scoring
  • Single Human Supervisor

Ref