[AMR] Finish first rework

2026-07-27 21:29:09 +02:00 · 2026-06-17 15:27:18 +02:00
parent 5bf9d9a022
commit b5c5d2ccb1
6 changed files with 8 additions and 7 deletions
@@ -27,7 +27,7 @@
    \end{algorithmic}
 \end{algorithm}
 Returns a collision-free path as graph. Need nearest neighbour search.
-Extension to RRT* to make path better (because this is quite bad)
+Extension to RRT* to make path better:
 \begin{algorithm}
    \begin{algorithmic}[1]
        \State $X_{\text{near}} \gets$ \Call{neighbours}{Graph, $x_f$, $R$}
@@ -10,4 +10,5 @@ With e.g. ${\color{purple} c_\text{att}} = \frac{1}{2} k_\text{att} ||\vec{x} -
        \frac{1}{2} k_\text{rep} \left( \frac{1}{\rho(\vec{x})} + \frac{1}{\rho_{\lim}} \right) & \rho \leq \rho_{\lim} \\
        0                                                                                       & \text{else}
    \end{cases}$
-    {\color{ForestGreen} Simple control laws}, {\color{red} may trap in loc. min., no diff. const, no guar. to avoid coll}
+
+{\color{ForestGreen} Simple control laws}, {\color{red} may trap in loc. min., no diff. const, no guar. to avoid coll}