How to smooth the path in V-rep

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scut_whg
Posts: 6
Joined: 21 Oct 2019, 08:24

How to smooth the path in V-rep

Post by scut_whg » 29 Oct 2019, 10:40

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I used OMPL to do a motion planning.The generated path curve is not bad at first glance, but you can zoom in on some local areas to know that it is not very smooth. Maybe you can slow down the robot's movement speed.
So how to smooth the path?

fferri
Posts: 407
Joined: 09 Sep 2013, 19:28

Re: How to smooth the path in V-rep

Post by fferri » 30 Oct 2019, 09:10

Path smoothing (while maintaining path validity) can only be performed by OMPL via PathSimplifier::smoothBSpline which currently not integrated in the plugin but you could try to modify the plugin code (v_repExtOMPL/plugin.cpp), calling the function PathSimplifier::smoothBSpline in void simplifyPath() after the call to pathSimplifier->simplify and see how that works for you.

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