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

Hello,

what V-REP package have you downloaded?

Cheers

The edu version 3.3.2

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

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

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

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

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.