- Set up a drivingScenario object.
- Add roads, lanes, actors and vehicles to describe your scenario. Add the ego vehicle to the scenario.
- Convert this into a vehicleCostmap object to represent the environment around the vehicle.
- Define the start and goal poses for the planner, then plan a path using pathPlannerRRT.
- Update the position of the ego vehicle based on the path returned by the planner.
RRT* Planner and Driving Scenario Generator
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Hi Guys,
I would like to implement RRT* algorithm to my Driving Scenario model :
![Screen Shot 2019-05-09 at 8.01.52.png](https://www.mathworks.com/matlabcentral/answers/uploaded_files/218659/Screen%20Shot%202019-05-09%20at%208.01.52.png)
Do you have any idea, how can I implement standart RRT* algorithm to the driving scenario model ?
I would like to run the simulation; and RRT* algorithm should generate path according to road lane (road lane would be obstacle)(real time).
Please find attached RRT* [1]
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답변 (1개)
Anand
2019년 6월 6일
The pathPlannerRRT implements a version of the RRT* planner. This may not directly suit your needs, but will get you started.
The basic workflow would entail the following steps:
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