OMPL can't find path

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Swistakowaty
Posts: 2
Joined: 30 Oct 2018, 08:08

OMPL can't find path

Post by Swistakowaty » 31 Oct 2018, 16:27

Hello,

I am using OMPL plugin for path planning. I build a simple scene with two obstacles and basically copied your script from 3DoFHolonomicPathPlanning.ttt. The problem is that used algorithm cannot always find a path. There are certain obstacle configurations which cause collision (most of the times “Box” hits a second obstacle). I tried to apply different algorithms and various settings but results were always similar. I am really clueless what the problem is.

Here is a link to my scene
https://drive.google.com/open?id=10PH1u ... kAKq88V-Qt

Are there any omissions in the program or Object properties settings?

Thank you.

fferri
Posts: 238
Joined: 09 Sep 2013, 19:28

Re: OMPL can't find path

Post by fferri » 02 Nov 2018, 10:00

The goal configuration is out of bounds.

I changed state space bounds to:

Code: Select all

ss={simOMPL.createStateSpace('2d',simOMPL.StateSpaceType.pose2d,robotHandle,{-1.5,-1.5},{1.5,1.5},1)}
and it began finding the solution.

Swistakowaty
Posts: 2
Joined: 30 Oct 2018, 08:08

Re: OMPL can't find path

Post by Swistakowaty » 02 Nov 2018, 16:07

Thank you!

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