c++ 避障轨迹规划

引用中提到了使用蚁群算法的路径规划和避障路径规划。根据引用中的描述，避障轨迹规划是通过使用MPC（模型预测控制）的成本函数处理数据并获取新状态。此外，引用中还提到了机械臂碰撞检测，这也是避障轨迹规划的一部分。综上所述，避障轨迹规划是通过蚁群算法和MPC成本函数来规划机械臂的移动路径，并避免与障碍物发生碰撞。<span class="em">1</span><span class="em">2</span><span class="em">3</span>
#### 引用[.reference_title]
- *1* *3* [机械臂 轨迹规划，避障路径规划](https://blog.csdn.net/u010451780/article/details/110642210)[target="_blank" data-report-click={"spm":"1018.2226.3001.9630","extra":{"utm_source":"vip_chatgpt_common_search_pc_result","utm_medium":"distribute.pc_search_result.none-task-cask-2~all~insert_cask~default-1-null.142^v93^chatsearchT3_2"}}] [.reference_item style="max-width: 50%"]
- *2* [离散控制Matlab代码-MPC-for-Autonomous-Vehicle:C++中的自行车模型上的MPC](https://download.csdn.net/download/weixin_38562329/18987891)[target="_blank" data-report-click={"spm":"1018.2226.3001.9630","extra":{"utm_source":"vip_chatgpt_common_search_pc_result","utm_medium":"distribute.pc_search_result.none-task-cask-2~all~insert_cask~default-1-null.142^v93^chatsearchT3_2"}}] [.reference_item style="max-width: 50%"]
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