ego_planner有什么优点
时间: 2023-10-14 07:04:36 浏览: 62
ego_planner相对于传统的规划算法,具有以下优点:
1. 自主性强:ego_planner能够自主地规划路径和轨迹,不需要外部指令,能够更加灵活地适应不同的环境和任务需求。
2. 实时性好:ego_planner能够快速生成路径和轨迹,能够在实时应用中更好地满足实时性的要求。
3. 鲁棒性强:ego_planner能够自适应地处理环境中的异常情况,如动态障碍物、传感器异常等。
4. 可扩展性好:ego_planner能够通过不同的算法和模块进行扩展,以满足不同应用场景的需求。
5. 可优化性好:ego_planner能够通过各种算法进行路径规划的优化,以满足不同的性能指标,如最短路径、最小时间等。
相关问题
ego_planner opencv
I'm sorry, as an AI language model, I don't have personal experience with using the ego_planner or OpenCV libraries. However, I can provide you with some general information about them.
Ego_planner is an open-source software package for motion planning and control of autonomous vehicles. It is designed to provide a flexible and adaptable framework for developing autonomous vehicle applications.
OpenCV (Open Source Computer Vision) is a library of programming functions mainly aimed at real-time computer vision. It allows developers to create applications that can interpret visual information from images and videos.
Together, ego_planner and OpenCV can be used to create intelligent autonomous systems that can perceive their environment and make decisions based on that perception. This can be useful in various applications, such as autonomous vehicles, robotics, and surveillance systems.
cmake_minimum_required(VERSION 2.8.3) project(ego_planner) set(CMAKE_BUILD_TYPE "Release") ADD_COMPILE_OPTIONS(-std=c++11 ) ADD_COMPILE_OPTIONS(-std=c++14 ) set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") find_package(Eigen3 REQUIRED) find_package(PCL 1.7 REQUIRED) find_package(catkin REQUIRED COMPONENTS roscpp std_msgs geometry_msgs quadrotor_msgs plan_env path_searching bspline_opt traj_utils message_generation cv_bridge ) # catkin_package(CATKIN_DEPENDS message_runtime) catkin_package( INCLUDE_DIRS include LIBRARIES ego_planner CATKIN_DEPENDS plan_env path_searching bspline_opt traj_utils # DEPENDS system_lib ) include_directories( include SYSTEM ${catkin_INCLUDE_DIRS} ${PROJECT_SOURCE_DIR}/include ${EIGEN3_INCLUDE_DIR} ${PCL_INCLUDE_DIRS} ) add_executable(ego_planner_node src/ego_planner_node.cpp src/ego_replan_fsm.cpp src/planner_manager.cpp ) target_link_libraries(ego_planner_node ${catkin_LIBRARIES} ) #add_dependencies(ego_planner_node ${${PROJECT_NAME}_EXPORTED_TARGETS}) add_executable(traj_server src/traj_server.cpp) target_link_libraries(traj_server ${catkin_LIBRARIES}) #add_dependencies(traj_server ${${PROJECT_NAME}_EXPORTED_TARGETS})
这段代码是一个 CMakeLists.txt 文件,用于编译一个名为 ego_planner 的工程。该工程依赖于 Eigen3 和 PCL 库,同时也依赖于一些 ROS 的组件,如 roscpp、std_msgs、geometry_msgs、quadrotor_msgs、plan_env、path_searching、bspline_opt、traj_utils 和 message_generation。该工程包含两个可执行文件,一个是 ego_planner_node,另一个是 traj_server。其中 ego_planner_node.cpp 是主程序,它包含了 ego_replan_fsm.cpp 和 planner_manager.cpp 两个文件。traj_server.cpp 是用于生成轨迹的服务器程序。在编译过程中,使用了 C++11 和 C++14 标准,同时开启了 Release 模式。