From 7819343801b9a6c487b17476f41d81dbecc5160b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E6=A2=81=E8=96=84=E4=BA=91?= Date: Mon, 10 Aug 2026 09:58:30 +0800 Subject: [PATCH] feat: add trajectory planning flow demo --- .../trajectory-planning-flow-demo.html | 413 ++++++++++++++++++ 1 file changed, 413 insertions(+) create mode 100644 ClumsyPilot/ParkrobTrajplanner/Trajplanner_output/trajectory-planning-flow-demo.html diff --git a/ClumsyPilot/ParkrobTrajplanner/Trajplanner_output/trajectory-planning-flow-demo.html b/ClumsyPilot/ParkrobTrajplanner/Trajplanner_output/trajectory-planning-flow-demo.html new file mode 100644 index 0000000..4f1f1d9 --- /dev/null +++ b/ClumsyPilot/ParkrobTrajplanner/Trajplanner_output/trajectory-planning-flow-demo.html @@ -0,0 +1,413 @@ + + + + + + 轨迹规划全链路 Demo + + + +
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轨迹规划全链路 Demo

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内置说明数据：同一米制地图中的地图、粗路径、平滑路径、EM 轨迹与控制输出。它用于理解数据边界，不调用 OSQP、定位、硬件或真实控制器。

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+ PlanningGridMap→Hybrid A*→Local G2→EmTrajectory→TrajectoryControlCommand +
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EM 最终轨迹：可发布的时间参数化参考

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+ 静态障碍物 + Hybrid A* 粗路径 + Local G2 平滑路径 + EmTrajectory + 换挡点 + 最终 Goal +
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EmTrajectory 点数据

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控制层消费边界

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