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Astar_with_traj_opt
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A星搜索出一条避障路径作为轨迹优化初始解的小demo
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Astar_with_traj_opt
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# Astar_with_traj_opt ## 运行效果 见B站：https://www.bilibili.com/video/BV1qF411m7mD/?spm_id_from=333.999.0.0&vd_source=62bfb7720b0b2f9941f7f34210ba6a18 ## 安装求解器 需要安装casadi，C++需要源码安装casadi，casadi要调用ipopt这个非线性求解器,所以安装casadi前需要安装ipopt,我也是参考别人博客安装的，这个需要费点时间。 ## 编译和运行 直接把src放入一个工作空间，终端catkin_make编译,source之后输入 ``` roslaunch map_gen costmap_optimal_control.launch ``` ## packages介绍 ## 1 map_gen `功能：` 生成A*需要的地图，启动launch ## 2 path_searcher `功能：` A*搜索算法 ## 3 simple_optimal_control `功能：` 用casadi构建的后端优化
