Hi, Dear Coppelia:
Sorry for bothering, I m trying to let pionner robot path planning in a large scale plant, the map size is 200*300meters.
I met problem: when I giving the small place - ss={simOMPL.createStateSpace('2d',simOMPL.StateSpaceType.pose2d,robotHandle,{218,-66},{235,-50},1)}, the robot can get the right path to avoid obstacle successfully! When i giving the large place - ss={simOMPL.createStateSpace('2d',simOMPL.StateSpaceType.pose2d,robotHandle,{-45,-150},{263,39},1)}, the robot can generate path, but just a straight line, the path will always ignore the obstacle, just giving a straight line.
Here is my scenario link: https://drive.google.com/open?id=1NOTne ... yjRTTjExTG
Thanks for your time, I am looking forward to your reply.
Yours Sincerely
Jack
2D Large Scale(200*300meters) Path Planning Issues
Re: 2D Large Scale(200*300meters) Path Planning Issues
Hi Jacky,
did you try to increase state validity checking resolution (by calling simOMPL.setStateValidityCheckingResolution)?
did you try to increase state validity checking resolution (by calling simOMPL.setStateValidityCheckingResolution)?
Re: 2D Large Scale(200*300meters) Path Planning Issues
Hi, Dear fferri:
Thanks a lot for your reply, also for the reply speed. Can I have any idea on how to using the function: simOMPL.setStateValidityCheckingResolution ?
Have a good day!
Yours Sincerely
Jack
Thanks a lot for your reply, also for the reply speed. Can I have any idea on how to using the function: simOMPL.setStateValidityCheckingResolution ?
Have a good day!
Yours Sincerely
Jack
Re: 2D Large Scale(200*300meters) Path Planning Issues
What is not clear?
The resolution is used to divide the state space extents into a regular grid, and is defined in terms of percentages of the space's maximum extent.
If you want to obtain grid cells of approx 1cm with a state space that spans 300m, set the resolution to 0.000033.
The resolution is used to divide the state space extents into a regular grid, and is defined in terms of percentages of the space's maximum extent.
If you want to obtain grid cells of approx 1cm with a state space that spans 300m, set the resolution to 0.000033.
Re: 2D Large Scale(200*300meters) Path Planning Issues
Hi, fferri:
I have tried, but i think i m not clearly on what is called 1cm with a state space, because i extend my ground floor, it's quite large compared with general grid.
I also not sure where we put this command in the the scripts.
Here is my ttt documents: https://drive.google.com/open?id=1kU46J ... gmzxyZjlO9
Sorry for stupid question, i totally don't understand. Please help if you can!
Yours Sincerely
Jack
I have tried, but i think i m not clearly on what is called 1cm with a state space, because i extend my ground floor, it's quite large compared with general grid.
I also not sure where we put this command in the the scripts.
Here is my ttt documents: https://drive.google.com/open?id=1kU46J ... gmzxyZjlO9
Sorry for stupid question, i totally don't understand. Please help if you can!
Yours Sincerely
Jack
Re: 2D Large Scale(200*300meters) Path Planning Issues
you can put
anywhere after
and before
Code: Select all
simOMPL.setStateValidityCheckingResolution(t,0.000033)
Code: Select all
simOMPL.createTask('t')
Code: Select all
simOMPL.compute(t,4,-1,800)
Re: 2D Large Scale(200*300meters) Path Planning Issues
Hi, fferri:
Thanks a lot, thank you so much!
Your Sincerely
Jack
Thanks a lot, thank you so much!
Your Sincerely
Jack