Plan path with minimum clearance.
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Lukas Schroth on 25 May 2022
I am trying to plan a path using RRT for a robot manipulator using matlab.
Currently I am using manipulatorRRT as a planner, however i cannot find any way to change the minimal clearance of the planned path.
Due to safety of he application, I need a certain distance to all environment objects.
Is there any way to set the clearance in manipulatorRRT, or what can i use alternatively to achieve a path with a certain clearance?
Thank you very much for your help!
Karsh Tharyani on 26 May 2022
You can't specify a safety clearance in the planner. However, if your environment comprises of meshes (even if it isn't you can convert them to a collision mesh using convertToCollisionMesh), you can simply scale up the meshes in the environment and that should create a safety clearance for you.
Here's how you scale a mesh:
% Show the original collision mesh
% Scale the mesh by a scaling factor
% Show the scaled collision mesh
title("Scaled Mesh " + string(scalingfactor) + "X")
Then you can simply pass the scaled mesh to the planner "manipulatorRRT" during its creation.
Hope that helps,