ros_rrt_bias

this reposity introduce a planner for vehicle parking, create the obstacle map using picture convolution algorithm.

Install dependent lib

• ROS
• OMPL
• fftw3
• map_server

this project test on the ubuntu20.04

Run launch

1. enter into the catkin_wsfolder and running:

$ catkin_make

2. if make is success, then run roslaunch

$ roslaunch src/ros_rrt_bias/luanch/rrt_base_test.launch

after that command, you will see follw window:

3. using the map_server to load the map file

$ rosrun map_server map_server src/ros_rrt_bias/maps/map_test1.yaml

in mapsfolder ,with tree test yamlfile.

Related function introduction

this project contain some function as follow:

obstacle map inflate

we use the vehicle footprint convolution with obstacle map to inflate the obstacle map.this algorithm reference the "Fast Collision Checking for Intelligent Vehicle Motion Planning"article.

• the kernel picture as follow:

• the obstacle map as follows:

• the convolution of two picture as follows:

distance map

the grip map as follow:

• using the way of "Fast 2-D Distance Transformations"paper ,calculate the distance map as follow:

the relative-coordinates threshold set to zero.