Smoothing the path after OMPL motion planning
Posted: 30 Aug 2019, 08:34
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
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