mesywang / motion-planning-algorithms Goto Github PK

在RRTStar算法实现中，更改为640*480的图像后，在collisionChecking.m中报告错误：

位置 1 处的索引超出数组边界(不能超出 480)。

出错 collisionChecking>feasiblePoint (line 26)

&& point(2)<=size(map,2) && map(point(2),point(1))==1)

出错 collisionChecking (line 17)

if ~feasiblePoint([floor(goalPose(1)),ceil(goalPose(2))],map)

出错 RRTstar (line 67)

if  ~collisionChecking(x_near,x_new,Imp)

Debug发现将下列
function feasible = feasiblePoint(point,map) feasible = true; if ~(point(1)>=1 && point(1)<=size(map,1) && point(2)>=1 ... && point(2)<=size(map,2) && map(point(2),point(1))==255) feasible = false; %有障碍 end
更改为
function feasible = feasiblePoint(point,map) feasible = true; if ~(point(1)>=1 && point(1)<=size(map,2) && point(2)>=1 ... && point(2)<=size(map,1) && map(point(2),point(1))==255) feasible = false; %有障碍 end
因为在point(1)对应x坐标，map(2)对应图像地图的x坐标，源文件由于地图分辨率为800*800，所以未产生错误。

Hello,I want to ask if A* becomes 5x5, with a total of 32 movement directions.
If I want to change it, how should I start?
What parts of the program need to be changed?
I'm sorry, please help me. Thanks

The rewiring in the RRT* code is missing an important step: after the new parent is picked, the cost-to-come for all the children and grand children of that parent should propagated forward all the way toward the leaf nodes. just changing the cost-to-come for the immediate children is not enough.

Function or variable 'insert_open' is not recognized
ERROR A_star_search (line 67)
OPEN(OPEN_COUNT,:)=insert_open(xNode,yNode,xNode,yNode,goal_distance,path_cost,goal_distance); %默认OPEN list
中1/0为1，表示未被访问