CoppeliaSim forums

Hello,

I am having difficulty figuring out how to work with other algorithms than the ones offered by default in the OMPL library and would love a guide on how to navigate, I intend to try out my own custom algorithms like say dijkstra and BFS(breath first search), other than the ones offered in OMPL, I haven't seen solutions on how to go about this, kindly help out.

Thanks.

Hello,

have a look at this topic for instance.

If you want to integrate your path planning algorithm with the OMPL library, then you should directly check with the OMPL documentation. Otherwise, it is probably more straightforward to implement it in an independent manner in CoppeliaSim: write the algorithm in a Lua/Python script. The simplest of such algorithms would sample a few random collision-free poses/configurations, and connect those to a graph, leading from start to goal.

Cheers