path planning along roadside instead of minimum lengh

asked 2018-08-12 22:48:22 -0600

turbocruiser gravatar image

updated 2018-08-23 22:21:27 -0600

Since A*/Dijkstra aim to plan a path with minimum length, can we add some constraints on the planning or optimize the global path to obtain a path along the roadside, so that robot can drive on the right? If so, how? Thanks.

Edit 1: Sorry that I didn't make it clear. I understand that except for euclidean dist, other cost like distance from center of the lane can also be included. But how can we design a cost function for the path exactly along the right side of the lane? Any idea is appreciated.

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Are you talking about the algorithm itself or a specific ROS package?

jayess gravatar imagejayess ( 2018-08-13 01:15:30 -0600 )edit

The arc lengths in the network used in any planning algorithm do not have to always be spatial. They can be arbitrary costs which define how good that route is. You could decrease the arc lengths near the centre of the correct lane for example.

PeteBlackerThe3rd gravatar imagePeteBlackerThe3rd ( 2018-08-13 11:28:44 -0600 )edit

@pete Thanks for your reply! I understand that except for euclidean dist, other cost can also be added. The problem is that it's hard to design a cost function for the path along the right side. Could you provide some hints? Many thanks.

turbocruiser gravatar imageturbocruiser ( 2018-08-23 22:15:57 -0600 )edit