Re: [ompl-users] 2D Planner

[Kourosh S. <kou...@gm...>]

Thanks Mark,
    I couldn't use DubinStateSpace or custom state spaces and my program
would hang if I used them, but I guess it was the result of me being a
beginner and messing something up somewhere. What did work however, was
using PathSimplifier::reduceVertices. Now the planner gives me paths with
as few vertices as possible and they are generally fine as long as I run
path planner multiple times and select the best one.

Thank you again,
Yours,
Kourosh


On Sat, Oct 26, 2013 at 11:08 PM, Mark Moll <mm...@ri...> wrote:

> Kourosh,
>
> You might want to look at the DubinStateSpace. This is an SE(2)-like state
> space for vehicles with a bounded turning radius that can only move
> forward. Interpolation between states is done using Dubins paths. If Dubins
> paths are not quite what you want, you can create your own state space. You
> could also play with the relative weight of orientation w.r.t. position in
> the distance function (to favor straight paths).
>
> Also, it’s recommended to use path simplification on a solution to
> mitigate some of the “chaotic motions” you have observed. Look at some of
> the demos for examples on how to do this.
>
> On Oct 26, 2013, at 7:30 AM, Kourosh Sartipi <kou...@gm...>
> wrote:
> >     This is my first time using ompl, so I apologize that my question is
> rudimentary. We have a robot that moves on the ground and want to do path
> planning using ompl and a 2D occupancy grid. Doing motion planning is very
> easy with RRTConnect, but our robot can only move forward and turn, so a
> chaotic motion is very costly.
> > How can I tell ompl to favor straight lines? Since for every turn our
> robot has to completely stop, turn and start moving again.
>
> --
> Mark Moll
>
>
>
>