[ompl-users] Planners return colliding paths

[Boris L. <la...@in...>]

Hey folks,

I'm new to ompl, so bare with me. Here's what I do: planning for a 
rectangular wheeled robot in x,y,theta. Just geometric path planning, no 
dynamics. The collision checks are done by lookups in distance maps 
generated after convolution with the robot shape.

When I use the RRT, it returns a decent solution that is free of 
obstacles. However, when I try to use KPIECE or the default, it says 
"Found solution" and returns a path that looks completely insane and 
does not care about obstacles at all. My code is below...

Could this be a problem with the projection missing, i.e., is the 
default not good enough? Do I have to initialize the KPIECE grid 
somehow? Do I need motion validity checking instead of state validity?

And a last question, which planner do you recommend as a benchmark for 
comparison against my own voronoi-based gridmap planner?

Any help is appreciated.
Best, Boris


ob::StateManifoldPtr manifold(new ob::SE2StateManifold());
manifold->as<ob::SE2StateManifold>()->setBounds(...);
og::SimpleSetup ss(manifold);

ompl::base::SpaceInformationPtr si = ss.getSpaceInformation();
si->setStateValidityChecker(boost::bind(&isStateValid, _1));
si->setStateValidityCheckingResolution(1.0/manifold->getMaximumExtent()); 
   si->setup();

ss.setPlanner((const ompl::base::PlannerPtr)new og::RRT(si));
ompl::base::ScopedState<ompl::base::SE2StateManifold> start(manifold);
ompl::base::ScopedState<ompl::base::SE2StateManifold> goal(manifold);
[then setting valid values for start goal]
ss.setStartAndGoalStates(ompl_start, ompl_goal);
bool solved = ss.solve(10000.0);




-- 
Boris Lau

Albert-Ludwigs-University Freiburg
Institute of Computer Science, Autonomous Intelligent Systems Group
Georges-Koehler-Allee 079, D-79110 Freiburg, Germany

Building 079, Room 1005
Phone: +49 761 203-8012 | Mobile: +49 174 9436758
http://www.informatik.uni-freiburg.de/~lau