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L3 Sampling Based Path Finding

RRT 参数 search_time 太大会导致搜索到很多路径，rviz 显示非常卡，所以作业中将 search_time 统一设置为 0.01

RRT

1

RRT*

Step1 - find parent

Step3 - rewire

[ WARN] [1658070161.823655060]: 3D Goal Set
[ INFO] [1658070161.823962656]: Setting goal: Frame:map, Position(11.770, 15.621, 0.000), Orientation(0.000, 0.000, 0.000, 1.000) = Angle: 0.000

[ INFO] [1658070161.825017537]:
-----------------------------
goal rcved at 11.7698 15.6205       0
[ INFO] [1658070161.825659719]: [RRT*]: RRT starts planning a path
[ INFO] [1658070161.836160201]: [RRT*]: first path length: 46.4475, use_time: 0.00023
[ INFO] [1658070161.836456531]: [RRT*] final path len: 42.9842

2

Informed-RRT*

informed_rrt_start

informedSamplingOnce

[ WARN] [1658069937.024682668]: 3D Goal Set
[ INFO] [1658069937.024835674]: Setting goal: Frame:map, Position(-16.646, 19.085, 0.000), Orientation(0.000, 0.000, 0.000, 1.000) = Angle: 0.000

[ INFO] [1658069937.025425774]:
-----------------------------
goal rcved at -16.6455  19.0855        0
[ INFO] [1658069937.025620369]: [RRT*]: RRT starts planning a path
[ INFO] [1658069937.036037114]: [RRT*]: first path length: 27.974, use_time: 0.000235501
[ INFO] [1658069937.036201722]: [RRT*] final path len: 27.9454

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  • Update

    由于目前作业框架第一次路径规划结果不会在rviz里显示，而我在 plan 中没有重置 sampler 的 inform状态值，导致第二次rrt*一开始就是 informed sampling space，所以出现了上述情况。

    修改之后 Informed RRT* 正常。

    [ WARN] [1658135669.211250600]: 3D Goal Set
[ INFO] [1658135669.211365200]: Setting goal: Frame:map, Position(22.030, 21.511, 0.000), Orientation(0.000, 0.000, 0.707, 0.707) = Angle: 1.571

[ INFO] [1658135669.211678800]:
-----------------------------
goal rcved at 22.0297 21.5111       0
[ INFO] [1658135669.211911400]: [RRT*]: RRT starts planning a path
[ INFO] [1658135669.262554300]: [RRT*]: first path length: 63.2573, use_time: 0.0043453
[ INFO] [1658135669.262723700]: [RRT*] final path len: 56.4433

    4