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xianzhenhuang's Projects

algorithmtrain icon algorithmtrain

本仓库对A star算法进行了复现。使用matlab对一些路径规划算法进行复现，包括基于图搜索和基于优化的方法

drl-robot-navigation icon drl-robot-navigation

Deep Reinforcement Learning for mobile robot navigation in ROS Gazebo simulator. Using Twin Delayed Deep Deterministic Policy Gradient (TD3) neural network, a robot learns to navigate to a random goal point in a simulated environment while avoiding obstacles.

gitresp icon gitresp

学习使用git来进行仓库管理

indoorrobotsimulation icon indoorrobotsimulation

Indoor robot system simulation based on ROS. 基于ROS的室内机器人系统仿真（北京航空航天大学计算机学院-智能机器人环境感知与路径规划课程项目-暨第三十届冯如杯科技竞赛参赛项目）

motionplan icon motionplan

实现A*、JPS、RRT*等路径搜索算法，并在ROS下完成可视化操作

ros icon ros

机器人操作系统ROS 语音识别 语义理解 视觉控制 gazebo仿真 雷达建图导航

routing_planning icon routing_planning

对A*算法做出优化：加入靠近路沿的启发函数，并对生成的轨迹点做了均值滤波处理，使轨迹更加平滑。在c++、ros环境下，使用purepursuit算法对spline生成的样条曲线进行了路径跟踪、使用lqr算法对生成的五次多项式轨迹进行横向路径跟踪。

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