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alifahrri / motion_planning

[experimental] Template-based Kinodynamic Motion Planning Package
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Obstacles avoidance #1

Open mechaliomar opened 5 years ago

mechaliomar commented 5 years ago

How do you avoid obstacles? How do you model an obstacle

alifahrri commented 5 years ago

Hi, at the current master branch, the obstacles were modeled as dynamic circles (e.g. circles with tuples of px, py, vx, vy); I am working on more generic definition of obstacles in the devel branch. To avoid the obstacles, kinodynamic-RRT* algorithm was used. Btw, this project is a part of my other project that combine motion planning and trajectory tracking, I suggest you to checkout this repo to get better insight.