I’ve just started digging into OMPL and have setup a few experiments with the GUI. I created one experiment with the following:
· simple rectangular block as an obstacle
· Robot type is Quadrotor and the RRT planner with differential constraints (Planning with controls)
· Start and goal states are on different sides of the block
With this setup, I believe the QuadrotorPlanning.h file is used from /src/omplapp/apps to define the vehicle, state space, etc. Is this correct?
A path is generated, but it is very jerky, with the vehicle moving in unrealistic ways. When planning with controls, it does not appear there is a PathSimplifier class as there is with geometric planning. Is that correct?
My question: is there a way to produce a smoother path with this problem setup?
Thanks in advance,