How to reduce the time of running when using pathPlannerRRT?

1 次查看（过去 30 天）
Hongtao Li
Hongtao Li 2021-12-10
回答： Sachin Lodhi 2024-2-16
clc; clear all; close all;
tic
profile on
mapWidth = 35;
mapLength = 40;
costVal = 0.1;
cellSize = 0.5;
startPose = [5, 5, 90]; % [meters, meters, degrees]
goalPose = [31, 17, 90];
costmap = vehicleCostmap(mapWidth,mapLength,costVal,'CellSize',cellSize);
L = 4.7;
W = 1.8;
H = 1.4;
FrontOverhang = 0;
RearOverhang = L/2;
vehicleDims = vehicleDimensions(L, W, H, 'FrontOverhang', FrontOverhang, 'RearOverhang', RearOverhang); % 4.5 m long, 1.7 m wide
numCircles = 3;
ccConfig = inflationCollisionChecker(vehicleDims,numCircles);
costmap.CollisionChecker = ccConfig;
[x,y] = meshgrid(25:0.5:27,12:0.5:14);
xyPoints = [x(:),y(:)];
costVal = 0.9;
setCosts(costmap,xyPoints,costVal);
[x2,y2] = meshgrid(10:0.5:32,0:0.5:8);
xyPoints2 = [x2(:),y2(:)];
setCosts(costmap,xyPoints2,costVal);
[x3,y3] = meshgrid(33:0.5:35,12:0.5:14);
xyPoints3 = [x3(:),y3(:)];
setCosts(costmap,xyPoints3,costVal)
[x4,y4] = meshgrid(15:0.5:20,12:0.5:14);
xyPoints4 = [x4(:),y4(:)];
setCosts(costmap,xyPoints4,costVal)
plot(costmap);
isPathValid = false;
kk = 1;
while (isPathValid == 0) && (kk < 15)
planner = pathPlannerRRT(costmap, 'ApproximateSearch', false, 'MaxIterations', 1e4, 'MinTurningRadius', 3, 'ConnectionDistance', 10);
refPath = plan(planner,startPose,goalPose);
isPathValid = checkPathValidity(refPath,costmap);
kk = kk + 1;
end
transitionPoses = interpolate(refPath);
hold on
plot(refPath,'DisplayName','Planned Path')
scatter(transitionPoses(:,1),transitionPoses(:,2),[],'filled', ...
'DisplayName','Transition Poses')
hold off
p = profile('info')
save myprofiledata p
toc

请先登录，再回答此问题。

回答（1 个）

Sachin Lodhi
Sachin Lodhi 2024-2-16
Hello Hongtao, it appears that you are facing extended processing times with your code and are interested in strategies to decrease it. To shorten the execution time of the provided code, adjusting certain parameter values may be necessary.
An additional optimization tactic, once the goal has been achieved, involves lowering the limit on the number of iterations and enlarging the maximum allowable distance for connections. Currently, your maximum iterations are set at 10,000; by diminishing this value, you could potentially lessen the execution time.
For further details, you can consult the following link: https://www.mathworks.com/help/nav/ref/plannerrrtstar.html#d126e155691

类别

在 Help Center 和 File Exchange 中查找有关 Motion Planning 的更多信息

标签

产品


版本

R2020b

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by