This project forked from use-jx/hybridastar_lbfgssmooth
hybrid astar with smooth, optimization solver is lbfgs
License: MIT License
hybrid astar with smooth, optimization solver is lbfgs
如图所示，黑色为障碍物，细蓝色带点的是混合A星搜索出来的路径点，红色是优化后的路径。
1 安装grid_map
sudo apt-get install ros-$ROS_DISTRO-grid-map
2 安装OMPL运动规划库
去官网https://ompl.kavrakilab.org/installation.html安装一下
创建一个工作空间
把src放入工作空间后catkin_make编译即可.
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