CHOMP: Gradient Optimization Techniques for Efficient Motion Planning
CHOMP运动规划算法，已被成功应用于机械臂和足式机器人运动规划中。
将其方法运用到移动机器人的路径规划中，实现轨迹优化，避障导航。
利用ROS的move_base局部路径规划接口，实现CHOMP算法仿真实现。
Kingsley 写于 CVTE 2019.4.23
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