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vss2sn / path_planning

This repository contains path planning algorithms in C++ for a grid based search.
https://vss2sn.github.io/path_planning/
BSD 3-Clause "New" or "Revised" License
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Grid type #5

Closed Didi-1221 closed 1 year ago

Didi-1221 commented 1 year ago

Hey, I saw your code it is an excellent implementation. I have a question on what kind of graph/grid you applied. is it visibility graph,Sukharev grid? Thank you

vss2sn commented 1 year ago

Thank you!
In terms if visibility a point on the grid is known to be an obstacle only when it is expanded in the algorithm. The grid here is a simple 2D grid; thinking of it in terms of a Sukharev grid might make following the algorithms more complex than necessary. The only place it might be useful is when considering the obstacle detection for RRT and RRT*, to check whether the start and end point have a direct line of sight, and even here it is better understood intuitively, i.e. if the line connecting the two points, passes near a point which is an obstacle, the corresponding motion is invalid.