how to apply bspline as a local planner?

ai-winter / ros_motion_planning

Motion planning and Navigation of AGV/AMR：ROS planner plugin implementation of A*, JPS, D*, LPA*, D* Lite, Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, ACO, PSO, Voronoi, PID, LQR, MPC, DWA, APF, Pure Pursuit etc.

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how to apply bspline as a local planner? #59

Closed Ansondomyself closed 2 months ago

Ansondomyself commented 3 months ago

I want to use bspline as a local planner,but I don't know how to modify the code.

ai-winter commented 2 months ago

@Ansondomyself

Currently, b-spline curves cannot be directly used for local planning because the original form does not incorporate obstacle avoidance constraints. This will be addressed in future work.