Motion Planning algorithms
Posted: 26 Jan 2021, 19:58
Hello,
I've put together a motion planning scene run through a Python API, which works quite well for what I need it to. I've been interested in comparing the path planning algorithms available in the OMPL, and I noticed something strange. Sometimes the algorithms will completely ignore the collision obstacles I have set and move through them, but sometimes it will behave exactly as I would expect. Certain algorithms will consistently ignore the collisions, while others will only do it very rarely, some not at all. I was wondering if this is known behaviour, or if I have likely made a mistake defining what isn't allowed to collide with what.
Thank you!
I've put together a motion planning scene run through a Python API, which works quite well for what I need it to. I've been interested in comparing the path planning algorithms available in the OMPL, and I noticed something strange. Sometimes the algorithms will completely ignore the collision obstacles I have set and move through them, but sometimes it will behave exactly as I would expect. Certain algorithms will consistently ignore the collisions, while others will only do it very rarely, some not at all. I was wondering if this is known behaviour, or if I have likely made a mistake defining what isn't allowed to collide with what.
Thank you!