Path planning from and limiting the dimensions of the vehicle
2 vues (au cours des 30 derniers jours)
Afficher commentaires plus anciens
Michal Mihálik
le 18 Oct 2021
Commenté : Michal Mihálik
le 21 Oct 2021
How do I set the path plannig A * hybrid parameters to take into account the size of the vehicle when I planning path? it is possible? The dimensions of my vehicle are 0.6x0.9 meters
0 commentaires
Réponse acceptée
Prashant Kumar
le 19 Oct 2021
Yes, Hybrid A* path planner can consider vehicle dimensions while planning the path.
For that, a new validator class should be written by inheriting any of these two classes: validatorOccupancyMap or validatorVehicleCostmap (These two classes are getting shipped with Navigation Toolbox).
Then in the new validator class, the two collision checking methods: isStateValid() and isMotionValid(), should be defined again which will consider the vehicle dimensions while doing collision checking.
Then this new validator object should be used to create plannerHybridAStar object.
The rest of the steps remains the same. By this, Hybrid A* planner will consider vehicle dimensions while planning the path.
Another simpler solution is to inflate the map with vehicle dimensions.
Plus de réponses (0)
Voir également
Catégories
En savoir plus sur Motion Planning dans Help Center et File Exchange
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!