一种改进 RRT$^*$ 结合四次样条的协调路径规划方法$^{\bf 1)}$
余敏,罗建军,王明明(
),高登巍
),高登巍
COORDINATED PATH PLANNING BY INTEGRATING IMPROVED RRT$^{\small*}$ AND QUARTIC SPLINE$^{\bf 1)}$
Yu Min,Luo Jianjun,Wang Mingming(),Gao Dengwei
),Gao Dengwei
图2. 四次样条曲线示意图
Fig.2. Sketch of quartic splines
