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Ask for help, about the fuzzy control of obstacle avoidance and path planning

Time:09-20

I now have a path planning program, but I hope I can remove the part path planning and obstacle avoidance, leaving only fuzzy control and the obstacles to as shown in the figure below:
My network backup https://pan.baidu.com/disk/home? application Errno=0 & amp; Errmsg=Auth % 20 login % 20 sucess & amp; & Bduss=& amp; Ssnerror=0 # list/vmode=list& Path=% 2 f
Hope to get help me QQ634313289
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