qq_42812330的博客

The classic "elastic band" deforms a path generated by a global planner with respect to the shortest path length while avoiding contact with obstacles. It does not take any dynamic constraints of the underlying robot into account directly. This contribution introduces a new approach called "timed elastic band" which explicitly considers temporal aspects of the motion in terms of dynamic constraints such as limited robot velocities and accelerations. The "timed elastic band" problem is formulated in a weighted multi-objective optimization framework. Most objectives are local as they depend on a few neighboring intermediate configurations. This results in a sparse system matrix for which efficient large-scale constrained least squares optimization methods exist. Results from simulations and experiments with a real robot demonstrate that the approach is robust and computationally efficient to generate optimal robot trajectories in real time. The "timed elastic band" converts an initial path composed of a sequence of way points into a trajectory with explicit dependence on time which enables the control of the robot in real time. Due to its modular formulation the approach is easily extended to incorporate additional objectives and constraints.

奥比中光摄像头驱动所需的OPENNI，可以很好的为奥比中光摄像头提供驱动。驱动之后既可以使用ros的例子开始做自己的算法了。

该文件包含了gazebo仿真中的所有离线文件，加载到gazebo中可以避免连接国外的服务器而导致打开gazebo卡顿

该方法通过stm32f103zet6编码器模式的运用，可以同时测得两个电机的距离。且通过串口打印出来。距离亲测有效。

f4的数据手册 比较详细的一份 有兴趣的看一下