Hello everyone!
I've used the OMPL motion planning plugin to make AGV path(based on example scene) and it works fine. However, resulted path has sharp corners that I need to round to make working trajectory. I'm pretty sure it's a common task and wanted to know what is general approach for this? Should I smooth the path after it's computation utilizing some interpolation and check for a collision after or maybe there is a way to force OMPL to make it during path planning?
https://drive.google.com/file/d/1gLMHMQ ... sp=sharing
Smoothing the path after OMPL motion planning
Re: Smoothing the path after OMPL motion planning
If you arbitrarily smooth the path, you cannot guarantee anymore that the path is valid.
OMPL supports path smoothing in the PathSimplifier class (e.g.: PathSimplifier::smoothBSpline) which retains path validity, but in order to access this feature you would beed to modify the C++ code of the plugin. See function simplifyPath() in plugin.cpp.
OMPL supports path smoothing in the PathSimplifier class (e.g.: PathSimplifier::smoothBSpline) which retains path validity, but in order to access this feature you would beed to modify the C++ code of the plugin. See function simplifyPath() in plugin.cpp.