- The project is a typical ROS project.
src/contains all source code.
- Open a terminal at project root (the directory containing this file).
roscorervizsource devel/setup.bashcatkin_make && rosrun plan plan_node
- Common legend
| Object | Description |
|---|---|
| White circle | Agent's circumcircle |
| Black line on agent | Agent's orientation |
| Yellow path | Given path |
| Corresponding pink paths | Padding obstacles in configuration space |
| Faint green circle around agent | Sensing region |
| Inner pink rectangles | Physical obstacle bounding boxes |
| Outer pink obstacles | Configuration space obstacle bounding boxes |
| Green path | Output path |
| Red circle | Local target position of agent after path optimization |
- RRT* legend
| Object | Description |
|---|---|
| Cyan rectangle | Sampling region |
| White tree | The RRT* tree |
- Visibility graph legend
| Object | Description |
|---|---|
| White lines | Visibility graph |
- Straight path with 2 points.
| RRT* | Visibility graph |
|---|---|
- Straight path with 3 points.
| RRT* | Visibility graph |
|---|---|
- Straigh path with 5 points.
| RRT* | Visibility graph |
|---|---|
- Perpendicular turn with 3 points.
| RRT* | Visibility graph |
|---|---|
- Perpendicular turn with 5 points.
| RRT* | Visibility graph |
|---|---|
- Obstacles.
| RRT* | Visibility graph |
|---|---|
- Obstacles over points on given path.
| RRT* | Visibility graph |
|---|---|
- Complete block.
| RRT* | Visibility graph |
|---|---|
- Small passage.
| RRT* | Visibility graph |
|---|---|
- Shielding final point.
| RRT* | Visibility graph |
|---|---|
- Arc.
| RRT* | Visibility graph |
|---|---|
- Arbitrary path (top down view).
| RRT* | Visibility graph |
|---|---|
- Arbitrary path (side view).
- RRT* planning frequency vs number of sensed obstacles.
- Visibility graph planning frequency vs number of sensed obstacles.
- RRT* planning frequency vs number of sampled nodes.