Motion planning with obstacle avoidance #4027
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Hi, I'm using calculateInverseKinematics to plan the trajectory of a 6-dof robot arm but the arm collides with the other objects in the environment. Is there a built-in function to perform motion planning with obstacle avoidance? Thanks! |
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Replies: 3 comments 1 reply
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@janneyow, no there isn't, you'll have to design/generate the path with some logic yourself. |
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check this out https://www.redblobgames.com/pathfinding/a-star/implementation.py when we evaluate paths, we can calculate the closest point using a KDTree or bvhtree of the obstacles. you can run a simulation of a robots 'plan' and calculate the closest point per joint to obstacles and adjust the plan or abandon it and try and generate a new one (gan?) |
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@BluePrintRandom this is a good explanation of the implementation of search algorithms! |
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with a IK creature - I actually do a planning phase per 'step' - maybe during this phase you can raytest / adjust the foot arc |
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@janneyow, no there isn't, you'll have to design/generate the path with some logic yourself.