Path planning from and limiting the dimensions of the vehicle

Question

Michal Mihálik 2021-10-18

0
链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1566351-path-planning-from-and-limiting-the-dimensions-of-the-vehicle

评论： Michal Mihálik 2021-10-21

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 个评论
显示 -2更早的评论隐藏 -2更早的评论

请先登录，再进行评论。

请先登录，再回答此问题。

Answer 1

Prashant Kumar 2021-10-19

0
链接

此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1566351-path-planning-from-and-limiting-the-dimensions-of-the-vehicle#answer_811563

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.

1 个评论
显示 -1更早的评论隐藏 -1更早的评论

Michal Mihálik 2021-10-21

I looked at the information for the validatorVehicleCostmap

validatorOccupancyMap also for the functions isStateValid () and isMotionValid (), but I still don't know how to use it ... can you give me an example?

请先登录，再进行评论。