# 移动机器人路径规划算法仿真器

**Repository Path**: chenjmg/path_planning_simulation

## Basic Information

- **Project Name**: 移动机器人路径规划算法仿真器
- **Description**: 移动机器人路径规划算法仿真器
- **Primary Language**: C++
- **License**: Apache-2.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 5
- **Forks**: 1
- **Created**: 2021-09-24
- **Last Updated**: 2024-11-23

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# 移动机器人路径规划仿真器


![][simulation_ui]

基于OPENCV的仿真软件开发

## 编译
```bash
$ cd build
```
首次编译
```bash
$ cmake ..
```

编译
```bash
$ make
```

## 运行
编译完成后，生成一个`path_planning_sim` 可执行文件，执行
```bash
$ ./path_planing_sim
```

## 操作
### 鼠标操作

- 鼠标左键选择起点
- 鼠标右键选择终点

### 键盘操作

- S 或者 s 开始路径规划
- C 或者 c 清除界面







---
End of file
--- 

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