Re: [ompl-users] OMPL State Validity Issue

[Mark M. <mm...@ri...>]

Hi Bruce,

For searching a discrete 2D grid, sampling from a 2D continuous space is probably not the most efficient way to find a path. You could probably use A*. Nevertheless, thickening the obstacles (e.g., by making each obstacle square slightly larger than a grid square) would probably fix the issue you are seeing.

Best,

Mark



> On Oct 12, 2020, at 10:35 PM, Bruce T <bru...@gm...> wrote:
> 
> Hi Mark, 
> 
> Hope all is well. 
> 
> I'm quite new to path planning and have been working on 2D path planning on grid maps in python. I ran into some issues with state sampling. For most of the maps and runs, the implementation works fine. (I used RealVectorStateSpace(2)) But for some maps, like the ones attached, the path sometimes cuts through the corner and jumps over the obstacles. (top left corner on the bottom of the 2nd top black wall) Is there a way to fix this issue? I was thinking maybe there's a way to "thicken" the edges between the nodes when sampling? 
> 
> Thank you in advance,
> Bruce 
> <Screenshot from 2020-10-13 01-18-51.png><Screenshot from 2020-10-13 01-19-32.png>_______________________________________________
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