From: Khe Siang Tan <bee_o_double_s_playa@ya...> - 2005-08-16 13:03:51
just wondering does Player/Stage have a built in path
planning algorithm and if so .... which file is it...?
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From: Brian Gerkey <brian@ge...> - 2005-08-17 17:52:31
On Aug 16, 2005, at 6:03 AM, Khe Siang Tan wrote:
> just wondering does Player/Stage have a built in path
> planning algorithm and if so .... which file is it...?
There is an implementation of what's sometimes called a gradient-
based path-planner, in server/drivers/planner/wavefront. It's a
simple approach in which all obstacles are grown by the longer radius
of the robot, after which dynamic programming is used to plan a path,
pretending that the robot is a point.
In other words, the robot is treated as a circle, its orientation is
ignored, and the (x,y) plane of the configuration space is
exhaustively searched for the optimal path. This approach works well
for small robots that are approximately circular and can turn in
place (like pioneers).
Look here for more info and examples:
I've also recently implemented an RRT-based planner, which plans in
the real (x,y,theta) configuration space via sampling. This approach
is better-suited to robots that are highly non-circular, and it
explicitly models differential steering kinematics. I hope to
release it eventually.
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