知名研究机构

University of Pennsylvania

• GRASP Lab,Vijay Kumar

  • Research Interests: planning, control, swarm

  • HomePage

Massachusetts Institute of Technology

• Jonathan How

  • Research Interests: modelling, control, planning

  • HomePage

• Nicholas Roy

  • Research Interests: perception, learning

  • HomePage

Carnegie Mellon University

• Nathan Michael

  • HomePage

• Sebastian Scherer

  • Research Interests: perception, planning

  • HomePage

University of California, Berkeley

• Markus Mueller

  • Research Interests: control, planning

ETH Zurich

• ASL Team, Roland Siegwart

  • Research Interests: perception, control

  • Homepage

• Raffaello D’Andrea

  • Research Interests : control, swarm

  • Homepage

University of Zurich

• Davide Scaramuzza

  • Research Interests : perception, control

  • Homepage

Hong Kong University of Science Technology

• Shaojie Shen

  • Research Interests : UAV

  • Homepage

• Ming Liu

  • Research Interests : UGV

  • Homepage

年轻学者

• Helen Oleynikova

  • HomePage

• Sikang Liu

  • HomePage

路径规划技术图谱

• 前端搜索

  • SEARCH-BASED PATH FINDING

    • Graph Search Basis
    • Dijkstra and A*
    • Jump Point Search

  • SAMPLING-BASED PATH FINDING

    • Probabilistic Road Map
    • Rapidly-exploring Random Tree (RRT)
    • Optimal Sampling-based Methods
    • Advanced Sampling-based Methods

  • KINODYNAMIC PATH FINDING

    • State-state Boundary Value Optimal Control Problem
    • State Lattice Search
    • Kinodynamic RRT*
    • Hybrid A*

• 后端优化

  • MINIMUM SNAP TRAJECTORY GENERATION

    • Differential Flatness
    • Minimum Snap Optimization
    • Closed-form Solution to Minimum Snap
    • Time Allocation

  • SOFT AND HARD CONSTRAINED TRAJECTORY OPTIMIZATION

    • Soft Constrained Trajectory Optimization
    • Hard Constrained Trajectory Optimization

地图

地图种类

• 占据栅格图(Occupancy grid map)

  • 最稠密
  • 结构化好
  • 直接索引
  • 源码链接

• 八叉树地图(Octo-map)

  • 稀疏
  • 结构化好
  • 非直接索引

• 体素哈希地图(Voxel hashing)

  • 最稀疏
  • 结构化好
  • 非直接索引
  • 源码链接

• 点云地图(Point cloud map)

  • PCL

• 截断的符号距离场地图(Truncated Signed Distance Functions map, TSDF)

  • 源码链接

• 欧几里得符号距离场地图(Euclidean Signed Distance Functions map, ESDF)

  • VoxBlox
  • FIESTA
  • TRR’s Local Map

• Free-space Roadmap

  • 源码链接

• 维诺图(Voronoi Diagram map)

  • 源码链接