Pianificazione del movimento
Utilizzare la pianificazione del movimento per pianificare un percorso attraverso un ambiente. È possibile utilizzare pianificatori basati sul campionamento comuni come RRT, RRT* e Hybrid A*, pianificatori basati sul deep learning oppure specificare interfacce di pianificazione del percorso personalizzabili. Utilizzare metriche di percorso, campionamento dello spazio di stato e convalida dello stato per garantire che il percorso sia valido e presenti la corretta distanza dagli ostacoli o la corretta scorrevolezza. Segui il tuo percorso ed evita gli ostacoli utilizzando algoritmi di pure pursuit, istogramma di campo vettoriale (VFH) e banda elastica temporizzata (TEB).
Funzioni
Blocchi
| Pure Pursuit | Linear and curvature control commands |
| Timed Elastic Band | Plan path to avoid obstacles and generate time-optimal trajectories (Da R2025a) |
| Vector Field Histogram | Avoid obstacles using vector field histogram |
Argomenti
- Get Started with Motion Planning Networks
Motion Planning Networks for state space sampling and path planning.
- Choose Path Planning Algorithms for Navigation
Details about the benefits of different path and motion planning algorithms.
- Optimal Trajectory Generation for Urban Driving
This example shows how to perform dynamic replanning in an urban scenario using
trajectoryOptimalFrenet. - Motion Planning in Urban Environments Using Dynamic Occupancy Grid Map
This example shows you how to perform dynamic replanning in an urban driving scene using a Frenet reference path.
- Path Following with Obstacle Avoidance in Simulink
Use Simulink® to avoid obstacles while following a path for a differential drive robot.
- Obstacle Avoidance with TurtleBot and VFH
This example shows how to use ROS Toolbox and a TurtleBot® with vector field histograms (VFH) to perform obstacle avoidance when driving a robot in an environment.
- Vector Field Histogram
VFH algorithm details and tunable properties.
- Pure Pursuit Controller
Funzionalità e dettagli dell'algoritmo del Pure Pursuit Controller.
- Follow Waypoints in Simulink Using Pure Pursuit Block
Guide a car-like vehicle along a series of waypoints in Simulink using the Pure Pursuit block.
Esempi in primo piano
Pianificare percorsi di robot mobili utilizzando RRT
Questo esempio mostra come utilizzare l'algoritmo RRT (Rapidly Explore Random Tree) per pianificare un percorso per un veicolo attraverso una mappa nota. Vengono inoltre applicati vincoli speciali ai veicoli con uno spazio di stato personalizzato. È possibile personalizzare il proprio pianificatore con oggetti di convalida dello spazio di stato e del percorso personalizzati per qualsiasi applicazione di navigazione.
Ripianificazione dinamica su una mappa interna
Questo esempio mostra come eseguire una ripianificazione dinamica su una mappa di magazzino con un telemetro e un pianificatore di percorsi A*.
Highway Lane Change
Perceive surround-view information and use it to design an automated lane change maneuver system for highway driving scenarios.
Motion Planning with RRT for Fixed-Wing UAV
Plan the 3D motion of a fixed-wing UAV using the rapidly exploring random tree (RRT) algorithm, given a start and goal pose.
Highway Trajectory Planning Using Frenet Reference Path
Demonstrates how to plan a local trajectory in a highway driving scenario. This example uses a reference path and dynamic list of obstacles to generate alternative trajectories for an ego vehicle. The ego vehicle navigates through traffic defined in a provided driving scenario from a drivingScenario object. The vehicle alternates between adaptive cruise control, lane changing, and vehicle following maneuvers based on cost, feasibility, and collision-free motion.
Reverse-Capable Motion Planning for Tractor-Trailer Model Using plannerControlRRT
Find global path-planning solutions for systems with complex kinematics using the kinematics-based planner, plannerControlRRT. The example is organized into three primary sections:
Object Tracking and Motion Planning Using Frenet Reference Path
Dynamically replan the motion of an autonomous vehicle based on the estimate of the surrounding environment. You use a Frenet reference path and a joint probabilistic data association (JPDA) tracker to estimate and predict the motion of other vehicles on the highway. Compared to the Highway Trajectory Planning Using Frenet Reference Path example, you use these estimated trajectories from the multi-object tracker in this example instead of ground truth for motion planning.
Optimization Based Path Smoothing for Autonomous Vehicles
Optimize the path for a car-like robot by maintaining a smooth curvature and a safe distance from the obstacles in a parking lot.
Benchmark Path Planners for Differential Drive Robots in Warehouse Map
Choose the best 2-D path planner for a differential drive robot in a warehouse environment from the available path planners. Use the plannerBenchmark object to benchmark the path planners plannerRRT, plannerRRTStar, plannerBiRRT, plannerPRM, and plannerHybridAstar on the warehouse environment with the randomly chosen start and goal poses. Compare the path planners based on their ability to find a valid path, clearance from the obstacles, time taken to initialize a planner, time taken to find a path, length of the path, and smoothness of the path. A suitable planner is chosen based on the performance of each path planner on the above mentioned metrics.
Offroad Planning with Digital Elevation Models
Process and store 2.5-D information, and presents various techniques for using it for an offroad path planner.
Enable Vehicle Collision Checking for Path Planning Using Hybrid A*
Use a Hybrid A* planner to plan a path to a narrow parking space, while accounting for the shape of a car-like robot.
Plan Path to Custom Goal Region for Mobile Robot
Plan a path for a mobile robot to a goal region using a rapidly exploring random tree (RRT) path planner. In this example, you can define a custom goal region as a 2-D polygon, and then plan a path to it.
Hybrid Sampling Method for Motion Planning in Warehouse Environment
Combine uniform sampling and Gaussian sampling approaches for motion planning in narrow passages and wide spaces.
Plan Path in Warehouse Scenario with Unseen Obstacle Avoidance
Plan path in a warehouse scenario by avoiding unseen obstacles using TEB algorithm.
Train Deep Learning-Based Sampler for Motion Planning
Create a deep learning-based sampler using Motion Planning Networks to speed up path planning using sampling-based planners like RRT (rapidly-exploring random tree) and RRT*. For information about Motion Planning Networks (MPNet) for state space sampling, see Get Started with Motion Planning Networks.
Accelerate Motion Planning with Deep-Learning-Based Sampler
The example shows how to use sampling-based planners such as RRT (rapidly-exploring random tree) and RRT* with Motion Planning Networks (MPNet), deep-learning-based sampler to find optimal paths efficiently.
Route Planning in Uneven Terrain Based on Vehicle Requirements
Use navGraph and plannerAStar to find a path through rough terrain while accounting for vehicle-based requirements and constraints.
Path Planning Using MPNet for Automated Parking Valet System
Perform path planning for an automated parking valet system using a pretrained MPNet.
Simulate Path Following on Speedgoat Real-Time Target Machine
Perform real-time simulation of path following on Speedgoat real-time target machine.
Avoid Obstacles Using TEB Local Planner in Simulink
Perform path following using TEB local planner in Simulink.
