Create an optimal RRT path planner (RRT*)
The plannerRRTStar
object creates an asymptotically-optimal RRT
planner, RRT*. The RRT* algorithm converges to an optimal solution in terms of the state space
distance. Also, its runtime is a constant factor of the runtime of the RRT algorithm. RRT* is
used to solve geometric planning problems. A geometric planning problem requires that any two
random states drawn from the state space can be connected.
creates an RRT* planner from a state space object, planner
= plannerRRTStar(stateSpace
,stateVal
)stateSpace
, and a
state validator object, stateVal
. The state space of
stateVal
must be the same as stateSpace
.
stateSpace
and stateVal
also sets the
StateSpace
and StateValidator
properties of
the planner
object.
[1] Karaman, S. and E. Frazzoli. "Sampling-Based Algorithms for Optimal Motion Planning." International Journal of Robotics Research . Vol. 30, Number 7, 2011, pp 846 – 894.
navPath
| plannerRRT
| stateSpaceDubins
| stateSpaceReedsShepp
| stateSpaceSE2