How to obtain optimal path between start and goal pose using pathPlannerRRT() and plan()?

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Tarun Santosh
Tarun Santosh 2021-6-22
评论： Qu Cao 2021-7-4
I am currently working on path planning of a vehicle for an automatic parking system.
I am currently using pathPlannerRRT() and plan() to generate a path between start and goal pose. The problem that i am facing is, with the same start and goal pose each time i re-run my program, i am getting a different path. Different results each time I re-run indicates that the path being generated is not optimal. Sometimes it is close to optimal, sometimes its very wavy and sub optimal.
How can i better control the path being generated and how can i ensure that the path being generated is optimal?
This is the part of code where i am configuring the path planner:
motion_planner = pathPlannerRRT(cstmp,'MinIterations',2000,'ConnectionDistance',5,'MinTurningRadius',4,'ConnectionMethod','Reeds-Shepp','ApproximateSearch',false);
path = plan(motion_planner,curr_pose,goal_pose);

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Qu Cao
Qu Cao 2021-6-30
Please set the random seed at the beginning to get consistent results across different runs:
https://www.mathworks.com/help/matlab/ref/rng.html
rng(1);
motion_planner = pathPlannerRRT(cstmp,'MinIterations',2000,'ConnectionDistance',5,'MinTurningRadius',4,'ConnectionMethod','Reeds-Shepp','ApproximateSearch',false);
path = plan(motion_planner,curr_pose,goal_pose);
  2 个评论
Tarun Santosh
Tarun Santosh 2021-7-4
By setting a random seed, the program is giving repeatable results but if possible could you explain how this is working? Why setting a random seed is making the results from pathPlannerRRT repeatable?
Qu Cao
Qu Cao 2021-7-4
A rapidly exploring random tree (RRT) is an algorithm designed to efficiently search nonconvex, high-dimensional spaces by randomly building a space-filling tree.
rng controls the generation of random numbers.

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