Does vehicleCostmap this type of map only support pathPlannerRRT object to plan a path? Can I use another algorithm to plan a path?

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Lee Jessie
Lee Jessie 2021-5-21
回答： Ankur Srivastava 2021-5-24
I really dont know how to use A* algorithm in vehicleCostmap this type of map to finish the path planning.
there's plannerAStarGrid method in Navigation toolbox, unfortunately, which are not allow to use in vehicleCostmap.
so, the question is that vehicleCostmap this type of map only support pathPlannerRRT object to plan a path? Can I use another algorithm to plan a path in vehicleCostmap?
huge thx!

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回答（2 个）

Qu Cao
Qu Cao 2021-5-21
You can create an occupancyMap object from a vehicleCostmap object using the following syntax:
map = occupancyMap(p,resolution)
and then pass it to plannerAStarGrid.
Ankur Srivastava
Ankur Srivastava 2021-5-24
Currently, plannerAStarGrid only supports binaryOccupancyMap and occupancyMap.
Alternatively, you can convert your vehicleCostmap object to occupancyMap using the following syntax:
p = vehicleCostmapObj.Costmap;
resolution = 1/vehicleCostmapObj.CellSize;
map = occupancyMap(p,resolution);
map.FreeThreshold = p.FreeThreshold;
map.OccupiedThreshold = p.OccupiedThreshold;
and then pass it to plannerAStarGrid.
map = occupancyMap(p,resolution);
planner = plannerAStarGrid(map)

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