V-REP Path planing

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AsadAli
Posts: 36
Joined: 24 Dec 2014, 09:25

V-REP Path planing

Post by AsadAli » 04 Apr 2015, 12:23

I want to know which path planning algorithm is used in path planning module, and is it possible to change the back-end algorithm used to compute the path.

Moreover Any video tutorial about collision detection module

coppelia
Site Admin
Posts: 7396
Joined: 14 Dec 2012, 00:25

Re: V-REP Path planing

Post by coppelia » 04 Apr 2015, 21:43

A RRT algorithm is used.

If you want to implement a different path planning algorithm, best would be to take the approach to create a plugin that exports new Lua commands for path planning: this would be the easiest, and the cleanest option.

Cheers

AsadAli
Posts: 36
Joined: 24 Dec 2014, 09:25

Re: V-REP Path planing

Post by AsadAli » 05 Apr 2015, 11:48

Is it RRT*, and Please elaborate your suggestion .

coppelia
Site Admin
Posts: 7396
Joined: 14 Dec 2012, 00:25

Re: V-REP Path planing

Post by coppelia » 06 Apr 2015, 10:03

It is RRT connect, or a variation of it (depending on the type of path planning).

What I suggested with the plugin is following:
Once that is done, you can communicate with your plugin via the custom lua functions you have registered. So your code could look like:

Code: Select all

taskHandle=simExt_createPlanningTask()
simExt_addRobotCollisionObject(taskHandle,robotObject1Handle)
simExt_addRobotCollisionObject(taskHandle,robotObject2Handle)
simExt_addObstacleCollisionObject(taskHandle,obstacleCollectionHandle)
...
simExt_addRobotPlanningJoint(taskHandle,robotJoint1Handle)
simExt_addRobotPlanningJoint(taskHandle,robotJoint2Handle)
...
simExt_setPlanningParameters(taskHandle,stepSize,...)
calculatedPath=simExt_findPath(taskHandle,{joint1Start,joint2Start,...},{joint1Goal,joint2Goal,...})
Cheers

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