RRT* Planner and Driving Scenario Generator

Hi Guys,

I would like to implement RRT* algorithm to my Driving Scenario model :

Do you have any idea, how can I implement standart RRT* algorithm to the driving scenario model ?

I would like to run the simulation; and RRT* algorithm should generate path according to road lane (road lane would be obstacle)(real time).

Please find attached RRT* [1]

[1] https://www.mathworks.com/matlabcentral/fileexchange/60993-2d-3d-rrt-algorithm

Answer 1

[Anand]

The pathPlannerRRT implements a version of the RRT* planner. This may not directly suit your needs, but will get you started.

The basic workflow would entail the following steps:

1. Set up a drivingScenario object.
2. Add roads, lanes, actors and vehicles to describe your scenario. Add the ego vehicle to the scenario.
3. Convert this into a vehicleCostmap object to represent the environment around the vehicle.
4. Define the start and goal poses for the planner, then plan a path using pathPlannerRRT.
5. Update the position of the ego vehicle based on the path returned by the planner.