I am getting a 3d path using rrt in Se3 statespace ,i ant to smoothen this path how can i do this?

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mukund shah
mukund shah 2021-12-11
回答： Jianxin Sun 2022-5-20
I am getting a path in 3d map using rrt ,how can i smoothen it,by giving certain radius of curvature etc such that there are no sharp turns?Can we do spline interpolation?
code:
planner = plannerRRT(space,statevalidator);
planner.MaxConnectionDistance = 5;
planner.MaxIterations = 1000;
planner.GoalReachedFcn = @(~,x,y)(norm(x(1:3)-y(1:3))<5);
planner.GoalBias = 0.1;
start = [40 180 25 0.7 0.2 0 0.1];
goal = [96 140 144 0.3 0 0.1 0.6];
[pthObj,solnInfo] = plan(planner,start,goal);
pthObj.States
isValid = isStateValid(statevalidator,pthObj.States)
isPathValid = zeros(size(pthObj.States,1)-1,1,'logical');
for i = 1:size(pthObj.States,1)-1
[isPathValid(i),~] = isMotionValid(statevalidator,pthObj.States(i,:),...
pthObj.States(i+1,:));
end
isPathValid
show(omap)
hold on
scatter3(start(1,1),start(1,2),start(1,3),'g','filled') % draw start state
scatter3(goal(1,1),goal(1,2),goal(1,3),'r','filled') % draw goal state
plot3(pthObj.States(:,1),pthObj.States(:,2),pthObj.States(:,3),...
'r-','LineWidth',2) % draw path

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Jianxin Sun
Jianxin Sun 2022-5-20

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