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6. 规划的末端执行器的路径及其速度
Fig.6. Planned path and velocity for end-effectors
