Taking footprint into account: how to find best position near object?

asked 2013-11-05 07:31:56 -0500

Hendrik Wiese gravatar image

updated 2013-11-05 07:32:40 -0500

Good evening folks,

I'm just thinking about how I can obtain the best position in the proximinty of an object that takes obstacles and the robot's footprint into account.

The idea that I have is to simulate every (discrete) position on a circle around the object by placing the footprint in that location, facing the object, to aggregate the values of the occupancy grid in every location and to eventually evaluate all positions by the added up occupancy values, the distance to the current position of the robot and - if possible - the accessibility of the determined position.

So the question in the first place is: how do I get the values of an occupancy grid within the footprint of the robot at a given position? Are there any tools yet to do that?

Once more, thanks a lot!

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