Re: [ompl-users] OMPL State Validity Issue

[Bruce T <bru...@gm...>]

Hi Mark,

Thank you for your recommendations. I was working on comparing different
algorithms on 2d grid. Looks like I'll have to look into making the
obstacle squares bigger.

Thank you,
Bruce

On Tue, Oct 13, 2020 at 9:32 PM Mark Moll <mm...@ri...> wrote:

> 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
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