Path planning from and limiting the dimensions of the vehicle

How do I set the path plannig A * hybrid parameters to take into account the size of the vehicle when I planning path? it is possible? The dimensions of my vehicle are 0.6x0.9 meters

Answer 1

[Prashant Kumar]

Yes, Hybrid A* path planner can consider vehicle dimensions while planning the path.

For that, a new validator class should be written by inheriting any of these two classes: validatorOccupancyMap or validatorVehicleCostmap (These two classes are getting shipped with Navigation Toolbox).

Then in the new validator class, the two collision checking methods: isStateValid() and isMotionValid(), should be defined again which will consider the vehicle dimensions while doing collision checking.

Then this new validator object should be used to create plannerHybridAStar object.

The rest of the steps remains the same. By this, Hybrid A* planner will consider vehicle dimensions while planning the path.

Another simpler solution is to inflate the map with vehicle dimensions.

[Michal Mihálik]

I looked at the information for the validatorVehicleCostmap

validatorOccupancyMap also for the functions isStateValid () and isMotionValid (), but I still don't know how to use it ... can you give me an example?