I want to create a rrt planner using custom kinematic constraints in a 3d map ,how to proceed with this problem?
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i have 3d occupancy grid map and now how can i define my custom kinematic constraints and apply rrt to this problem?
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Sandip Kumar
2021-12-16
编辑:Sandip Kumar
2021-12-16
This example showcases how to use custom validator with stateSpaceSE2 object inside plannerRRT: https://www.mathworks.com/help/nav/ug/moving-furniture-in-a-cluttered-room-with-rrt.html
This should give you inspiration of how to do it.
ValidatorOccupancyMap3D uses the occupancyMap3D: https://www.mathworks.com/help/nav/ref/validatoroccupancymap3d.html --> there is an example on this page which shows how to use plannerRRT
Read more about create custom state spaces here: https://www.mathworks.com/help/nav/ref/nav.statespace-class.html
Read about creating custom validator here: https://www.mathworks.com/help/nav/ref/nav.statevalidator-class.html
Other motion planning example: https://www.mathworks.com/help/nav/examples.html?category=motion-planning&s_tid=CRUX_topnav (note only some of them use plannerRRT)
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Karsh Tharyani
2021-12-17
plannerRRT is a geometric planner and since the state doesn't have any notion of time it is hard to encode it in the planner. Have you looked at plannerControlRRT?
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