之前的轨迹规划中,我们只考虑了质点,没有考虑机器人的外形与结构.直接在obstacle map 中进行轨迹规划,然而世纪情况中,机器人有固定外形,可能会和障碍物发生碰撞.此情况下,我们针对机器人自由度进行建模,给定其运动空间,如果是扫地机器人,那么其自由度是x-y的平移,如果是N自由度机械臂,其自由度是电机转角,我们针对此自由度,构建Configuration Space 并在其中使用A* 或者DJ 算法进行轨迹规划. 1.干涉碰撞检查 构建 Configuration Space 任务的pip…

A key concept in motion planning is configuration space, or C-space for short. Every point in the C-space C corresponds to a unique configuration q of the robot, and every configuration of the robot can be represented as a point in C-space. This desc…

原文链接:https://journals.aps.org/prl/abstract/10.1103/PhysRevLett.100.114101 发表在:PRL 2008 -------------------------------------------------------------------------------------------------------------------------------------------------------------------…

1.PCI-Compatible Configurationbits [1:0] are hard-wired, read-only and must return zeros when read.bits [7:2] identify the target dwordbits [10:8] identify the target function number (1-of-8) within the target device.bits [15:11] identify the target…

上一篇提到,机器人轨迹规划中我们可以在 Configuration Space 中运行A* 或者 DJ 算法.无论A* 还是DJ 算法,都必须针对邻域进行搜索,如果2自由度则有4邻域,2自由度则有8邻域.如果是工业上常用的6自由度机器人,那么就有2^6邻域......显然,对于轨迹规划这种串行算法而言,这么高维度的搜索空间是不合适的.......于是就有了牺牲精度,鲁棒性,但是效率较高的基于采样的轨迹规划算法.PRM(probabilistic road map).使用PRM生成稀疏的路径图,再…

前文初步介绍了Linux用户态设备驱动,本文将介绍一个典型的案例.Again, 如对Linux用户态设备驱动程序开发感兴趣,请阅读本文,否则请飘过. Device Drivers in User Space: A Case for Network Device Driver | 用户态设备驱动:以网卡驱动为例 Hemant Agrawal and Ravi Malhotra, Member, IACSIT Abstract -- Traditionally device drivers spec…

spark集群中的节点可以只处理自身独立数据库里的数据,然后汇总吗? 修改 我将spark搭建在两台机器上,其中一台既是master又是slave,另一台是slave,两台机器上均装有独立的mongodb数据库.我是否可以让它们只统计自身数据库的内容,然后将结果汇总到一台服务器上的数据库里?目前我的代码如下,但是最终只统计了master里的数据,另一个worker没有统计上. val config = new Configuration() //以下代码表示只统计本机数据库上的数据,猜测问题可能…

BACKGROUND The evolution of graphics rendering technology has led to the development of procedural techniques for describing various steps in the rendering process. Procedural geometry is useful as a mechanism for producing arbitrarily complex geomet…

A novel massively parallel supercomputer of hundreds of teraOPS-scale includes node architectures based upon System-On-a-Chip technology, i.e., each processing node comprises a single Application Specific Integrated Circuit (ASIC). Within each ASIC n…

http://blog.packagecloud.io/eng/2016/06/22/monitoring-tuning-linux-networking-stack-receiving-data/ Jun 22, 2016 • packagecloud Tags: packagecloud linux kernel networking optimization tuning monitoring TL;DR This blog post explains how computers runn…