Is it possible to define a distance from obstacles to RRT*?
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Hello everyone,
I wanted to know if it is possible to define a minimum distance from an obstacle for RRT*? I have a code with RRT* and I noticed that it provides me with routes that are very close to obstacles, this creates problems for me to continue my project
Is it possible to define a variable that prevents the algorithm from sticking to the obstacle?
I can't solve this problem.
I would really appreciate help with this
Thank you very much everyone!! :)
I am attaching a figure to illustrate the trajectory given to me by RRT* (I made it discrete)
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답변 (2개)
Ganesh
2024년 6월 13일
To implement the same you would need to modify "isStateValid" routine of a "manipulatorCollisionBodyValidator". You would need to allow the standard checks, and add a check to ensure that a minimum distance is maintained from the environment.
You can refer to the following example where a custom "interpolate" function has been used for "manipulatorStateSpace":
The following is a skeletal code you can use for implementing the same:
classdef exampleHelperCustomCollisionBodyValidator < manipulatorCollisionBodyValidator
properties
MinSeparationDistance % Minimum separation distance from obstacles
end
methods
function obj = exampleHelperCustomCollisionBodyValidator(robotModel, minSeparationDistance)
% Constructor
obj@manipulatorCollisionBodyValidator(robotModel);
obj.MinSeparationDistance = minSeparationDistance;
end
function isValid = isStateValid(obj, state)
% First, check for collisions using the parent method
isValid = isStateValid@manipulatorCollisionBodyValidator(obj, state);
% If there's no collision, check for minimum distance
if isValid
% Retrieve the current configuration's collision bodies
collisionBodies = obj.RigidBodyTree.CollisionMeshes;
% Loop through each collision body to check distance
for i = 1:length(collisionBodies)
[isInCollision, separationDist] = checkCollision(obj, collisionBodies{i}, state);
if isInCollision || separationDist < obj.MinSeparationDistance
% If any collision body is too close, the state is not valid
isValid = false;
return;
end
end
end
end
end
end
Note: This code may need modifications to be accurately implemented
You can refer to the following MATLAB Answer where the same problem was solved:
Ganesh
2024년 6월 13일
Adding another solution where you can simply scale up the obstacle map and then change the obstacle map:
minDistance = 0.4;
map = [1 1 1 1 1; 1 0 1 0 1; 1 0 0 0 1; 1 0 0 1 1; 1 1 1 1 1]
scale = floor(1/0.3);
map = kron(map, ones(scale));
map = map | map % To make it a logical array
% Create a convolution kernel that identifies neighbors
kernel = [1 1 1; 1 0 1; 1 1 1];
% Perform convolution, looking for at least one neighbor
neighborMap = conv2(double(map), kernel, 'same') > 0;
% Combine the original map with the neighbor map to update zeros adjacent to ones
updatedMap = map | neighborMap
There are many shortcomings with this approach.
- You would notice that I have used floor(), hence the actual tolerance by increasing obstacle width would be 1/3 = 0.33 units, and not 0.3.
- The scale depends majorly on the decimal part. So if you were to have a tolerance of 0.05, you would have to scale 20 times! The memory increases by 400 times!
Hope these two solutions helped!
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