interpolate
Syntax
Description
interpolate(
evaluates the path based
on the pathObj
)ControlStepSize
property of the nav.StatePropagator
object in the
StatePropagator
property of the control path
pathObj
, and adds all intermediate points to the control path.
Examples
Combine Two Kinodynamic Paths with Controls for Mobile Robot
Set State and State Propagator Parameters
Load a ternary map matrix and create an occupancyMap
object.
load("exampleMaps","ternaryMap") map = occupancyMap(ternaryMap,10);
Create a state propagator for a bicycle kinematic model using the map.
propagator = mobileRobotPropagator(Environment=map);
Set the state bounds on the state space based on the map world limits.
propagator.StateSpace.StateBounds(1:2,:) = [map.XWorldLimits; map.YWorldLimits];
Plan Path
Create the path planner from the state propagator.
planner = plannerControlRRT(propagator);
Specify the start and goal states.
start = [10 15 0]; goal = [40 30 0];
Plan a path between the states. For repeatable results, reset the random number generator before planning.
rng("default")
path = plan(planner,start,goal);
Check the total elapsed duration of the control path.
pathDuration(path)
ans = 102.4000
Interpolate the path to the control step size of the propagator.
interpolate(path)
Visualize the path.
figure show(map) hold on plot(start(1),start(2),"rx") plot(goal(1),goal(2),"go") plot(path.States(:,1),path.States(:,2),"b") hold off
Plan Return Path
Plan a second path from the end of the previous path location back to the start.
path2 = plan(planner,path.States(end,:),start);
Check the total elapsed duration of the second path.
pathDuration(path2)
ans = 100.3000
Visualize the path.
figure show(map) hold on plot(start(1),start(2),"rx") plot(goal(1),goal(2),"go") plot(path2.States(:,1),path2.States(:,2),"m") hold off
Combine Paths
Extract the sequence of motions from the second path.
states = path2.States(2:end,:); controls = path2.Controls; targets = path2.TargetStates; durations = path2.Durations;
Append this sequence to the end of the first path.
append(path,states,controls,targets,durations)
Interpolate the new segments in the original path.
interpolate(path)
Check the total elapsed duration of the final path.
pathDuration(path)
ans = 102.4000
Visualize the path.
figure show(map) hold on plot(start(1),start(2),"rx") plot(goal(1),goal(2),"go") plot(path.States(:,1),path.States(:,2),"b") hold off
Input Arguments
pathObj
— Control path object
navControlPath
object
Control path, specified as a navPathControl
object.
Data Types: double
Version History
Introduced in R2021b
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