RRT* Planner and Driving Scenario Generator

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Hakan Basargan
Hakan Basargan 2019 年 5 月 9 日
回答済み: Anand 2019 年 6 月 6 日
Hi Guys,
I would like to implement RRT* algorithm to my Driving Scenario model :
Screen Shot 2019-05-09 at 8.01.52.png
Do you have any idea, how can I implement standart RRT* algorithm to the driving scenario model ?
I would like to run the simulation; and RRT* algorithm should generate path according to road lane (road lane would be obstacle)(real time).
Please find attached RRT* [1]

回答 (1 件)

Anand 2019 年 6 月 6 日
The pathPlannerRRT implements a version of the RRT* planner. This may not directly suit your needs, but will get you started.
The basic workflow would entail the following steps:
  1. Set up a drivingScenario object.
  2. Add roads, lanes, actors and vehicles to describe your scenario. Add the ego vehicle to the scenario.
  3. Convert this into a vehicleCostmap object to represent the environment around the vehicle.
  4. Define the start and goal poses for the planner, then plan a path using pathPlannerRRT.
  5. Update the position of the ego vehicle based on the path returned by the planner.

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