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Ruben-MR / Quadrotor_3D_planning_control

Repository for the Planning and Decision Making Project Code
MIT License
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Auto termination of the RRT planner #5

Closed xinjie-liu closed 2 years ago

xinjie-liu commented 2 years ago

Our RRT planner may should be able to terminate itself once get node close enough to the goal and the corresponding path, we could look into that later as well

Ruben-MR commented 2 years ago

As I mentioned in the group chat, we can implement a condition in the RRT_star algorithm so that, If the number of iterations is too low so as to find a solution, we can continue iterating until a solution is found or a maximum number of iterations (large, but not too large since we don't want to wait forever) is reached. I will take charge of implementing that next week.

Ruben-MR commented 2 years ago

The newly implemented asymptotical optimality radius solves sufficiently well the problem. For a number of iterations bigger than 1500, at least. All implementations I have seen risk termination without finding a solution when too little iterations are given, so I guess it is a common flaw of RRT.