Start state is not valid based on planner's state validator

costmap = vehicleCostmap(DCMap,'CellSize',res);

%% Create Hybrid A* Path Planner

% the stateSpaceSE2 object stores parameters and states in the SE(2) state space,

% which is composed of state vectors represented by [x, y, θ]. x and y are

% Cartesian coordinates, and θ is the orientation angle.

space = stateSpaceSE2;

space.StateBounds = [-100 100; -100 100; -pi pi]; % [x,y,θ]

validator = validatorVehicleCostmap(space); % state validator based on 2-D costmap

% save the results in validator

validator.Map = costmap; % save costmap

validator.ValidationDistance = 1; % save validation distance

MinTurningRadius = 3; % minimum turning radius [m]

MotionPrimitiveLength = 2*pi*MinTurningRadius/4; % motion primitive length [m]

% create the hybrid A* path planner

planner = plannerHybridAStar(validator,'MinTurningRadius',MinTurningRadius,'MotionPrimitiveLength',MotionPrimitiveLength);

startPose = [50 5 0]; % Define the start position

goalPose = [5 0 0]; %Define the goal position

refPath = plan(planner,startPose,goalPose);

I get the above error and this is how the map looks like with the coordinates. I am using a vehicleCostmap instead of occupancy map here. The vehicleCostmap worked for a previous map.

Answer 1

[Divija Aleti]

Hi Kashish,

From the figure, I can see that your map's x-bounds are [-40 40] and y-bounds are [-25 25].

The coordinates of your start position are [50 5]. But the upper limit for x as given by the map's bounds is 40 and the x-coordinate of the start position is greater than that. Hence the error.

I suggest you to choose a start position which falls inside the map's boundaries and doesn't coincide with any obstacle.

Hope this helps!

Regards,

Divija