Expand description
LQR-RRT* path planning algorithm
Combines RRT* with LQR-based steering and cost computation. Instead of straight-line extension, the tree is grown using LQR trajectories, and the cost metric is the sum of LQR trajectory segment lengths.
Reference: PythonRobotics LQRRRTStar by Atsushi Sakai
Structsยง
- LqrRrt
Star - LQR-RRT* planner.
- LqrRrt
Star Config - Configuration for the LQR-RRT* planner.
- Node
- A node in the LQR-RRT* tree.