A_star-Minimum_snap

Function

random 3d map
A* path planning
Minimum_snap trajectory generation
results with times velocity jerk acceleration

Usage

run PLANNING.m in Matlab

Result

Related

paper: 马宏伟,王岩,杨林.煤矿井下移动机器人深度视觉自主导航研究[J].煤炭学报,2020,45(06):2193-2206.
video: http://www.chinacaj.net/d/file/2020-07-24/9aa4fe9ae86ef0cd10c9e0e34e37b060.mp4