Plan path with minimum clearance.
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Hey all,
I am trying to plan a path using RRT for a robot manipulator using matlab.
Currently I am using manipulatorRRT as a planner, however i cannot find any way to change the minimal clearance of the planned path.
Due to safety of he application, I need a certain distance to all environment objects.
Is there any way to set the clearance in manipulatorRRT, or what can i use alternatively to achieve a path with a certain clearance?
Thank you very much for your help!
Yours,
Lukas
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Karsh Tharyani
2022-5-26
1 个投票
Hi Lukas,
You can't specify a safety clearance in the planner. However, if your environment comprises of meshes (even if it isn't you can convert them to a collision mesh using convertToCollisionMesh), you can simply scale up the meshes in the environment and that should create a safety clearance for you.
Here's how you scale a mesh:
groundvehiclemesh=collisionMesh(stlread('groundvehicle.stl').Points);
% Show the original collision mesh
subplot(1,2,1)
show(groundvehiclemesh);
xlim([-150,150])
ylim([-150,150])
zlim([-60,60])
title("Original Mesh");
% Scale the mesh by a scaling factor
scalingfactor=2.5;
groundvehiclemesh.Vertices=scalingfactor*(groundvehiclemesh.Vertices);
% Show the scaled collision mesh
subplot(1,2,2);
show(groundvehiclemesh);
xlim([-150,150])
ylim([-150,150])
zlim([-60,60])
title("Scaled Mesh " + string(scalingfactor) + "X")
Then you can simply pass the scaled mesh to the planner "manipulatorRRT" during its creation.
Hope that helps,
Karsh
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Image Analyst
2022-5-25
0 个投票
I suggest you get a mask of your objects then enlarge them with imdilate to create the safety buffer zone around them. Then see Steve's blog to get the shortest route:
1 个评论
Karsh Tharyani
2022-5-26
编辑：Karsh Tharyani
2022-5-26
The posts which you link are only relevant for 2D point like robots. The OP is asking about manipulatorRRT which uses a rigid body tree and involves collision checking for poses in 3D.
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