CCPP、ECPP全覆盖路径规划-牛耕法弓字路径(tsp和整数规划)及改进、回字路径规划实现

覆盖路径规划，牛耕法弓字路径(tsp和整数规划)及改进；光滑回字路径实现；

 

 

全覆盖路径规划相关

使用区域分解的方法，实现，和cleanPack一样的效果

 

 

 

技术要点

轮廓相关，计算多边形相交，可见性图计算最短路径；

这个使用了cgal库，这个库需要依赖boost;

RicheyHuang/CoveragePlanner: Complete Coverage Path Planning Using BCD Algorithm (github.com)

E:\[openFromGit]\CoveragePlanner-master

 

 

从代码里面看到的论文链接

 

// Choset, Howie. "Coverage of known spaces: The boustrophedon cellular

// decomposition." Autonomous Robots 9.3 (2000): 247-253.

// https://www.cs.cmu.edu/~motionplanning/lecture/Chap6-CellDecomp_howie.pdf

 

E:\[openFromGit]\Chap6-CellDecomp_howie(牛耕法原理).pdf

full_coverage_path_planner-master,效果一般

common.h

实现了：到一个区域的astar路径规划算法；

bool a_star_to_open_space(std::vector<std::vector<bool> > const &grid, gridNode_t init, int cost,

std::vector<std::vector<bool> > &visited, std::list<Point_t> const &open_space,

std::list<gridNode_t> &pathNodes);

 

全覆盖规划开源项目中的技术要点总结

• todo全覆盖路径规划开源项目里面还有很多可以参考的代码和实现思路，例如tsp问题的求解，地图旋转,raytrace，距离变换，astar搜索，wavefront，tsp求解是使用的图的数据结构,使用的是线程的操作；
• 地图降采样，路径降采样，腐蚀；返回链码路径；

• void AStarPlanner::downsampleMap(const cv::Mat& map, cv::Mat& downsampled_map, const double downsampling_factor, const double robot_radius, const double map_resolution)
  {
  	//erode the map so the planner doesn't go near the walls
  	//	--> calculate the number of times for eroding from Robot Radius [m]
  	cv::Mat eroded_map;
  	int number_of_erosions = (robot_radius / map_resolution);
  	cv::erode(map, eroded_map, cv::Mat(), cv::Point(-1, -1), number_of_erosions);
  	//downsampling of the map to reduce calculation time
  	if (downsampling_factor != 1.)
  		cv::resize(eroded_map, downsampled_map, cv::Size(0, 0), downsampling_factor, downsampling_factor, cv::INTER_NEAREST);//_LINEAR);
  	else
  		downsampled_map = eroded_map;
  }
  

  　　

  极大团，图论算法
  /home/tang/Desktop/123MyProj/test_room_segmentation/lib_navigation/common/src/maximal_clique_finder.cpp
  concorde TSP 求解器，开源求解器
  /home/tang/Desktop/123MyProj/test_room_segmentation/lib_navigation/common/include/ipa_building_navigation/concorde_TSP. 
  路径降采样