Comments (6)
I'm not sure if this is a good idea to include in the base RRT. I definetly can see this being a good idea overall (for soccer), but there might be rrt applications that would not want this behavior (perhaps they want a random-ish path every time?) At the very least I think there should be a way to turn this off if needed, if this is done in the RRT.
from rrt.
Relevant paper:
Fast Path Planning Algorithm for the RoboCup
Small Size League (2014)
from rrt.
We tried looking in EscapeObstaclesPathPlanner.cpp if the code for this algorithm already exists. However, the code in this class calls functions from RRT, which is not what this algorithm wants. (Recall, this algorithm only uses RRT as a backup if this entire process does not work.) Thus, I will be creating a new class called StraightLinePathPlanner.
from rrt.
All right, so I'm trying to first call RRTPlanner with a goal bias of 1, which will create a straight line to the goal. If this fails, then we default back to the RRT Path Planning.
This is how I'm trying to do it:
- The current runRRT method has been renamed to runRRTHelper. This helper takes in a boolean value to see if you are trying to do a straight line planning.
- A new runRRT method has been created. This calls the runRRT method twice: once with the extra boolean value set to true, once with the boolean set to false.
Please let me know if this idea is okay. If it is, please tell me how to check if the straight path planning was successful (pseudocode is in comments):
vector straight = runRRTHelper(start, goal, motionConstraints, obstacles, state, shellID, true);
//If straight is a legit path {
return straight
}
return runRRTHelper(start, goal, motionConstraints, obstacles, state, shellID, false);
Please let me know how to do the above pseudocode.
from rrt.
from rrt.
This issue is a little overloaded now, this is taking place in the rrt planner class in robocup-software.
You can check to see if the straight rrt path planner was successfull by using the success variable for example here. If the helper is unsuccessful, it returns an empty vector, so you can just check to see if the vector is empty before moving on.
The pseudocode looks good to me, and the method you have setup looks good too. If this didn't make enough sense let me know and I'll clarify anything for you.
from rrt.
Related Issues (20)
- RRT Documentation + Doc Generation HOT 1
- Memory leak in Tree destructor HOT 5
- Change type of _nodes from std::vector<Node<T>*> to std::vector<Node<T>>
- Make a dark theme for the rrt visualizer
- Path can go through obstacle corners HOT 2
- Goal Bias should be implemented by modifying random pool instead of going directly towards goal
- Main.qml not found on ubuntu 16.04 HOT 3
- Benchmark rrt with google/benchmark HOT 4
- Preset obstacle configurations for the viewer
- Convert floats to doubles
- CMU Link in Readme returns 404 HOT 2
- BiRRT does not check for valid transitions when trying to connect the two trees
- rrt-viewer crashes if the tree start points are moved before a step is taken HOT 1
- Repeatable experiments HOT 5
- Running RRT without the GUI HOT 6
- Creating obstacles programatically HOT 9
- RRT time and distance HOT 9
- Modifying your open code HOT 5
- Are there any papers about this Bi-RRT? HOT 2
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.
from rrt.