Specify the RRT goalState as a matrix rather than a vector?

2 次查看（过去 30 天）
Chen Sheng
Chen Sheng 2021-7-30
编辑： Chen Sheng 2021-8-5
Hello, Must the goal state of RRT be a point (vector), not a line (matrix) or a region?
path = plan(planner,startState,goalState);
startState = [1 10 pi/6];
goalState = [10 5 pi/6; 10 6 pi/6; 10 7 pi/6];
I tried the above code, but an error occurred:
"Error using plan
Expected goalstate to be a vector"
Is there a way to define the target state of RRT Algorithm as a line segment rather than just a point?

请先登录，再回答此问题。

回答（1 个）

Yiping Liu
Yiping Liu 2021-8-2
Hi, Chen,
Thank you for your interest in this feature. It looks like that you are looking for the support of goal region in the RRT planner. The goal region is already supported in manipulatorRRT (a decorated RRT planner fully customized for robot manipulators that is shipped in Robotics System Toolbox), but it is not yet supported for the generic plannerRRT or plannerBiRRT. This enhancement is already on our development team's radar. This feedback is useful and we hope to address it soon in an upcoming release. Please check back later.
Thanks,
Yiping

类别

在 Help Center 和 File Exchange 中查找有关 Motion Planning 的更多信息

标签

产品


版本

R2021a

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by