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RRT(Updating)

The original code is from https://github.com/mseln/aeplanner

After creating several paths using RRT(Rapidly exploring Random Tree), the best path is selected. Random samples are chosen within the known rectangular map. The path can also expand to gradual increasing/decreasing hills.

Development environment

  • Ubuntu 18.04
  • ROS melodic
  • catkin tools

Prerequisites

  1. catkin simple
cd ~/catkin_ws/src
git clone https://github.com/catkin/catkin_simple.git
  1. Octomap
sudo apt-get install ros-melodic-octomap-*

Configuration

  • rrt/min_nodes: Iteration numbers of creating valid nodes.
  • system/bbx/r: The cylinder radius for detecting collision.
  • system/bbx/overshoot: Overshoot of the cylinder height for detecting collision.
  • tree/extension_range: Height of cylinder. (or node step length).
  • boundary/min , boundary/max : Only z value is meaningful. x,y ranges are set automatically.