[ompl-users] Path planning with Dubins path and obstacles

[Florian F. <de...@fl...>]

Hi everyone,

I'm trying to solve a path planning problem where there are obstacles
and the path must be a Dubins' path.

I came across the OMPL library which looks great, but I struggle to
get reliable results. I suspect that I'm not using the library well.

I come from the optimization community. I'm familiar with A* and its
variants, but I'm not familiar with the sampling based algorithms.

For now, what I've done looks like:

    ob::StateSpacePtr
space(std::make_shared<ob::DubinsStateSpace>(turning_radius));

    space->as<ob::SE2StateSpace>()->setBounds(bounds);

    og::SimpleSetup ss(space);

    const ob::SpaceInformation *si =
ss.getSpaceInformation().get();

    ss.setStateValidityChecker([obstacles, si](const ob::State
*state)

            {

                return is_state_valid(obstacles, si,
state);

            });

    auto
planner(std::make_shared<og::RRTstar>(ss.getSpaceInformation()));

    ss.setPlanner(planner);

    ss.setStartAndGoalStates(ompl_start, ompl_goal);

    ob::PlannerStatus solved = ss.solve(60);

With this, I often get valid paths, but they look far from optimal.

Is this the correct way to achieve what I'm looking for? Should I for
example use a control based planner? I struggle to understand the
difference with geometric planners

Thank you for your help,

Best,

Florian