Risk-Bounded Continuous-Time Trajectory Planning
收藏arXiv2025-09-30 收录
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https://github.com/jasour/Risk-Bounded-Continuous-Time-Trajectory-Planning
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资源简介：
该数据集展示了在不确定的非凸环境中，包含静态和动态障碍物时的轨迹规划示例。它包含了基于障碍物的多项式表示得出的风险轮廓和安全约束。此外，该数据集还展示了如何在实际硬件上实现RRT-SOS算法来计算风险轮廓，并包含了在此特定硬件上的计算结果。该数据集的任务是在不确定环境中进行带有风险界限的轨迹规划。
This dataset presents trajectory planning examples in uncertain non-convex environments with both static and dynamic obstacles. It includes risk profiles and safety constraints derived from polynomial representations of obstacles. Additionally, this dataset demonstrates how to implement the RRT-SOS algorithm on physical hardware to compute risk profiles, and contains the computational results obtained on this specific hardware. The task of this dataset is trajectory planning with risk bounds in uncertain environments.
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