![]() ![]() The following code fragment is taken from the example MRPT/samples/pathPlanning. The basic usage requires declaring the gridmap, the mrpt::nav::PlannerSimple2D object, setting the robot radius, and invoking mrpt::nav::PlannerSimple2D::computePath(). For those cases, see the obstacle avoidance methods. ![]() Note that this is a very simple method, not suitable for robots with shapes very different from circular and/or moving in cluttered environmnets. The occupancy grid is treated the way the navigation stack treats it. The value iteration algorithm, starting at the source position, increase iteratively the area covered by shortest paths until the target cell is reached. 1.13 1 star 0.90 From the lesson Module 2: Mapping for Planning The occupancy grid is a discretization of space into fixed-sized cells, each of which contains a probability that it is occupied. Map The Map display shows a navmsgs/OccupancyGrid message.This assure that just one single free cell is enough for the robot to move without collision. Growth of the obstacles by the robot radius.The basic value iteration algorithm for searching shortest paths is implemented in the MRPT for occupancy grids, and circular robots, in the class mrpt::nav::PlannerSimple2D. ![]()
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