How to iterate on a previous plan using PRMstarkConfigDefault

asked 2019-02-26 21:30:20 -0500

hooman gravatar image

Hi everyone, I was wondering if there is a way to restart the ompl


planner (or similar ompl planners) from their previously computed solution so that you can iterate to a better one. I know that you can use OMPL as a pre-processor for CHOMP or STOMP but they are not very robust and can easily fail to find a good plan even from the initial OMPL plan (at least in my experience). So I'm looking to do the post-optimization using OMPL to iterate on an initial plan. Is that possible or each time you run the planner it will start from scratch?

I'm using Ubuntu 16.04 LTS and ROS Kinetic.

Thanks for your advice,

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