2D Large Scale(200*300meters) Path Planning Issues

[Jacky]

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

[fferri]

Hi Jacky,

did you try to increase state validity checking resolution (by calling simOMPL.setStateValidityCheckingResolution)?

[Jacky]

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

[fferri]

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.

[Jacky]

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

[fferri]

you can put

Code: Select all

simOMPL.setStateValidityCheckingResolution(t,0.000033)

anywhere after

Code: Select all

simOMPL.createTask('t')

and before

Code: Select all

simOMPL.compute(t,4,-1,800)

[Jacky]

Hi, fferri:

Thanks a lot, thank you so much!

Your Sincerely
Jack