I want to create a rrt planner using custom kinematic constraints in a 3d map ,how to proceed with this problem?
조회 수: 4 (최근 30일)
이전 댓글 표시
i have 3d occupancy grid map and now how can i define my custom kinematic constraints and apply rrt to this problem?
댓글 수: 0
답변 (1개)
Sandip Kumar
2021년 12월 16일
편집: Sandip Kumar
2021년 12월 16일
This example showcases how to use custom validator with stateSpaceSE2 object inside plannerRRT: https://www.mathworks.com/help/nav/ug/moving-furniture-in-a-cluttered-room-with-rrt.html
This should give you inspiration of how to do it.
ValidatorOccupancyMap3D uses the occupancyMap3D: https://www.mathworks.com/help/nav/ref/validatoroccupancymap3d.html --> there is an example on this page which shows how to use plannerRRT
Read more about create custom state spaces here: https://www.mathworks.com/help/nav/ref/nav.statespace-class.html
Read about creating custom validator here: https://www.mathworks.com/help/nav/ref/nav.statevalidator-class.html
Other motion planning example: https://www.mathworks.com/help/nav/examples.html?category=motion-planning&s_tid=CRUX_topnav (note only some of them use plannerRRT)
댓글 수: 5
Karsh Tharyani
2021년 12월 17일
plannerRRT is a geometric planner and since the state doesn't have any notion of time it is hard to encode it in the planner. Have you looked at plannerControlRRT?
참고 항목
카테고리
Help Center 및 File Exchange에서 Motion Planning에 대해 자세히 알아보기
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!