/ros_rrt_bias

this project contain obstacle map generate and the RRT palnner test

Primary LanguageC++Apache License 2.0Apache-2.0

ros_rrt_bias

this reposity introduce a planner for vehicle parking, create the obstacle map using picture convolution algorithm.

Install dependent lib

  • ROS
  • OMPL
  • fftw3
  • map_server

this project test on the ubuntu20.04

Run launch

  1. enter into the catkin_wsfolder and running:
$ catkin_make
  1. if make is success, then run roslaunch
$ roslaunch src/ros_rrt_bias/luanch/rrt_base_test.launch

after that command, you will see follw window: rviz_init

  1. using the map_server to load the map file
$ rosrun map_server map_server src/ros_rrt_bias/maps/map_test1.yaml

in mapsfolder ,with tree test yamlfile.

rviz_map_load

Related function introduction

this project contain some function as follow:

obstacle map inflate

we use the vehicle footprint convolution with obstacle map to inflate the obstacle map.this algorithm reference the "Fast Collision Checking for Intelligent Vehicle Motion Planning"article.

  • the kernel picture as follow:

kernel picture

  • the obstacle map as follows:

obstacle picture

  • the convolution of two picture as follows:

convolution result

distance map

the grip map as follow:

grid map

  • using the way of "Fast 2-D Distance Transformations"paper ,calculate the distance map as follow:

distance map

the relative-coordinates threshold set to zero.