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OrebroUniversity / navigation_oru-release

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how to generate car-like motion primitive #42

Open Oasis-Guo opened 4 years ago

Oasis-Guo commented 4 years ago

Hi, I try this ws and it looks like amazing. Thanks for great work! Next I want to try the motion planner with my custom car. I wonder how to generate the motion primitive based on my custom cat? For the sbpl, they have a matlab script to do that, but only for unicycle not for car-like model.

h72a65 commented 4 years ago

Hi, the generation of motion primitives are not included in this public release. If you provide me some details I could, however, generate them for you.

Oasis-Guo commented 4 years ago

Hi, the generation of motion primitives are not included in this public release. If you provide me some details I could, however, generate them for you.

That would be awesome. Thank you so much! My car's parameter is listed as below:

car_width: 0.846 car_length_front: 1.03 car_length_back: 0.85 distance_between_axes: 1.026 resolution_m : 0.1 numberofangles: 16

For the max_steering_radians: since I use both back and front steering wheel, I just measure the minimum turning radius - 2.2m. If you use a simple-car model( only front steering wheel), I use the equation r = L / tan(phi), and get max_steering_radians is 0.434.

You can send the motion primitive file to my email : zhenya_guo@berkeley.edu

Oasis-Guo commented 4 years ago

Actually, my car model can move diagonally like 17 degrees. That is the most interesting part I want to try with a lattice-based motion planner. But I can add it to the motion primitive file latter :)