## V-REP Path planing

Typically: "How do I... ", "How can I... " questions
AsadAli
Posts: 36
Joined: 24 Dec 2014, 09:25

### V-REP Path planing

I want to know which path planning algorithm is used in path planning module, and is it possible to change the back-end algorithm used to compute the path.

Moreover Any video tutorial about collision detection module

coppelia
Site Admin
Posts: 7853
Joined: 14 Dec 2012, 00:25

### Re: V-REP Path planing

A RRT algorithm is used.

If you want to implement a different path planning algorithm, best would be to take the approach to create a plugin that exports new Lua commands for path planning: this would be the easiest, and the cleanest option.

Cheers

AsadAli
Posts: 36
Joined: 24 Dec 2014, 09:25

### Re: V-REP Path planing

Is it RRT*, and Please elaborate your suggestion .

coppelia
Site Admin
Posts: 7853
Joined: 14 Dec 2012, 00:25

### Re: V-REP Path planing

It is RRT connect, or a variation of it (depending on the type of path planning).

What I suggested with the plugin is following:
Once that is done, you can communicate with your plugin via the custom lua functions you have registered. So your code could look like:

Code: Select all

taskHandle=simExt_createPlanningTask()
simExt_addRobotCollisionObject(taskHandle,robotObject1Handle)
simExt_addRobotCollisionObject(taskHandle,robotObject2Handle)
simExt_addObstacleCollisionObject(taskHandle,obstacleCollectionHandle)
...
simExt_addRobotPlanningJoint(taskHandle,robotJoint1Handle)
simExt_addRobotPlanningJoint(taskHandle,robotJoint2Handle)
...
simExt_setPlanningParameters(taskHandle,stepSize,...)
calculatedPath=simExt_findPath(taskHandle,{joint1Start,joint2Start,...},{joint1Goal,joint2Goal,...})
Cheers