How to reduce the time of running when using pathPlannerRRT?

Question

Hongtao Li 2021-12-10

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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1608230-how-to-reduce-the-time-of-running-when-using-pathplannerrrt

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

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Answer 1

Sachin Lodhi 2024-2-16

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此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1608230-how-to-reduce-the-time-of-running-when-using-pathplannerrrt#answer_1410098

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