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jonarriza96 / corrgen

A differentiable collision-free corridor generator.
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Use without parametric path #1

Open Astik-2002 opened 1 month ago

Astik-2002 commented 1 month ago

Greetings. I'm planning on using corrgen with gym-pybullet-drones to find obstacle free corridors using point clouds (which are generated using pybullet-rendered depth images). I want to use the collision free corridor to plan a path, hence I don't have a reference path attached with the point cloud. Will the algo work without a reference path?

jonarriza96 commented 1 month ago

Hi!

The algorithm takes a (i) parametric path and a (ii) point cloud as inputs (see the video from 0:02 to 0:20 for details on the algorithm's structure). This means that you will need to compute a parametric path before using the algorithm. For example, you could do this by choosing your favourite planner (RRT, A*, JPS, ...) and parameterizing the computed path by its arc-length.

If there is a big demand for this, we might provide an "illustrative" planner!