3DoF Non Holonomic path planning scene

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Kyrelloss
Posts: 4
Joined: 21 Dec 2016, 13:04

3DoF Non Holonomic path planning scene

Postby Kyrelloss » 04 Jan 2017, 10:56

The 3 Dof Non Holonomic path planning scene is not included in my V-rep scenes any help finding/downloading that

coppelia
Site Admin
Posts: 5969
Joined: 14 Dec 2012, 00:25

Re: 3DoF Non Holonomic path planning scene

Postby coppelia » 05 Jan 2017, 13:51

Hello,

what V-REP package have you downloaded?

Cheers

Kyrelloss
Posts: 4
Joined: 21 Dec 2016, 13:04

Re: 3DoF Non Holonomic path planning scene

Postby Kyrelloss » 09 Jan 2017, 17:25

The edu version 3.3.2

coppelia
Site Admin
Posts: 5969
Joined: 14 Dec 2012, 00:25

Re: 3DoF Non Holonomic path planning scene

Postby coppelia » 12 Jan 2017, 10:58

Sorry for the misunderstanding. The scene was actually removed, since it is using the old path planning functionality, and we do not recommend using it anymore. Best is to use the OMPL plugin for V-REP.
The old scene can still be found in the older V-REP versions here, and should still run in current V-REP release (still supported for backward compatibility).

Cheers

jasonchankitwai
Posts: 2
Joined: 02 Mar 2017, 06:50

Re: 3DoF Non Holonomic path planning scene

Postby jasonchankitwai » 03 Mar 2017, 01:43

I am using VREP3.3.2 with ompl plugin, there is an example for 3Dof holonomic, but i cannot find any demo on non holonomic for path planning. The functions in ompl (see url below) does not suggest any parameters (turning radius) for non holonomic car-like robot .

http://www.coppeliarobotics.com/helpFil ... odules.htm

I have also downloaded VREP3.2.0 which includes a car-like (non holonomic) motion planning scene . However, it is not using ompl. Is there a scene file that demostrate ompl path planning for non holonomic mobile robot? thanks

coppelia
Site Admin
Posts: 5969
Joined: 14 Dec 2012, 00:25

Re: 3DoF Non Holonomic path planning scene

Postby coppelia » 05 Mar 2017, 22:47

Hello,

with the OMPL plugin (as it is right now), it is quite difficult to perform non-holonomic path planning unfortunately. This was much easier with the old path planning module, but that one was unfortunately not very flexible nor extendible. In future we plan to extend the OMPL plugin with that functionality.

Cheers

aidyk
Posts: 14
Joined: 16 Sep 2014, 16:39

Re: 3DoF Non Holonomic path planning scene

Postby aidyk » 21 Apr 2017, 07:52

I've simply modified existing v_repExtOMPL plugin for DubinsStateSpace support.

https://github.com/aidyk/v_repExtOMPL

Hope you find it useful. And if there is any license issue, please let me know :p

fferri
Posts: 88
Joined: 09 Sep 2013, 19:28

Re: 3DoF Non Holonomic path planning scene

Postby fferri » 02 Jun 2017, 12:54

Hi aidyk,

thanks for your contribution! It has been merged into the OMPL plugin at https://github.com/fferri/v_repExtOMPL

Please fork https://github.com/fferri/v_repExtOMPL if you want to make more contributions, so it is easier to track and merge changes.


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