pr2_table_simple.world File Reference

Detailed Description

Video: optimal trajectory

The PR2 robot by Willow Garage moving a box from underneath the table and leaving it on the table.

The difference with pr2_table.world is that here the gap between the robot and the table is larger and, thus, the problem is easier.

This is an example used in the RSS-12 paper to evaluate our asymptotically-optimal planner on manifolds. In this case only one homotopy of paths exists and, thus, a good approximation to the optimal path can be obtained smoothing a non-optimal path.

The key data for this problem are:

Ambient space dimension 16
Configuration space dimension 4
Average planning time with bin/cuikatlasrrt (in seconds) 1

This example is treated following this steps (from the main CuikSuite folder):

  • Solve the path planning problem For this, deactivate the bifurcation detection (set DETECT_BIFURCATIONS to 0) and execute:
  • Alternative ways to plan existing in the literature:
  • Visualize the path: Whatever the procedure used to plan
  • To smooth an output path:
  • Visualize the smoothed path:
  • To directly approximate an optimal path This is included in our RAS paper (submitted). Ensure that the parameters BI_RRT and RRT_GRAPH are both set to TRUE (with them set to FALSE the process also converges to the optimal path but significanly slowlier) and execute:

Definition in file pr2_table_simple.world.