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

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Jacky
Posts: 9
Joined: 29 Jan 2019, 23:14

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

Post by Jacky » 15 May 2019, 00:07

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
Posts: 304
Joined: 09 Sep 2013, 19:28

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

Post by fferri » 15 May 2019, 09:21

Hi Jacky,

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

Jacky
Posts: 9
Joined: 29 Jan 2019, 23:14

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

Post by Jacky » 15 May 2019, 14:10

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
Posts: 304
Joined: 09 Sep 2013, 19:28

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

Post by fferri » 15 May 2019, 14:13

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
Posts: 9
Joined: 29 Jan 2019, 23:14

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

Post by Jacky » 15 May 2019, 15:36

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
Posts: 304
Joined: 09 Sep 2013, 19:28

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

Post by fferri » 16 May 2019, 09:46

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
Posts: 9
Joined: 29 Jan 2019, 23:14

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

Post by Jacky » 22 May 2019, 23:14

Hi, fferri:

Thanks a lot, thank you so much!

Your Sincerely
Jack

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