addPlanner

Add path planner for benchmarking

Since R2022a

Syntax

addPlanner(plannerBM,planFcn)

addPlanner(plannerBM,planFcn,initializationFcn)

addPlanner(___,Name=Value)

Description

addPlanner(plannerBM,planFcn) adds the plan function of a planner as a function handle planFcn to the plannerBenchmark object.

addPlanner(plannerBM,planFcn,initializationFcn) also adds the initialization function of a planner as a function handle initializationFcn to the plannerBenchmark object.

addPlanner(___,Name=Value) specifies options using one or more name-value arguments in addition to any combination of input arguments from previous syntaxes.

Examples

Benchmark 2-D Path Planners

Create an occupancy map from an example map.

load("exampleMaps.mat","simpleMap");
map = occupancyMap(simpleMap);

Create a state validator with stateSpaceSE2 using the map.

sv = validatorOccupancyMap(stateSpaceSE2,Map=map);

Specify the start and goal states.

start = [5 8 pi/2];
goal = [7 18 pi/2];

Create a plannerBenchmark object.

pbo = plannerBenchmark(sv,start,goal);

Define the function handles for the initialization functions of the planners.

plannerHAFcn = @(sv)plannerHybridAStar(sv);
plannerRRTSFcn = @(sv)plannerRRTStar(sv.StateSpace,sv);

Define the function handle for the plan function, which is common for both planners.

plnFcn = @(initOut,s,g)plan(initOut,s,g);

Add the path planners for benchmarking.

addPlanner(pbo,plnFcn,plannerHAFcn);
addPlanner(pbo,plnFcn,plannerRRTSFcn,PlannerName="ppRRTStar");

Set the rng for repetitive results.

rng('default')

Run the path planners for the number of times specified in runCount to collect metrics.

runCount = 5;
runPlanner(pbo,runCount)

Initializing plannerHAFcn_plnFcn ...
Done.
Planning a path from the start pose (5 8 1.5708) to the goal pose (7 18 1.5708) using plannerHAFcn_plnFcn.
Executing run 1.
Executing run 2.
Executing run 3.
Executing run 4.
Executing run 5.
Initializing ppRRTStar ...
Done.
Planning a path from the start pose (5 8 1.5708) to the goal pose (7 18 1.5708) using ppRRTStar.
Executing run 1.
Executing run 2.
Executing run 3.
Executing run 4.
Executing run 5.

Access path length metric for all the runs on the environment.

[pLenSummary,pLenData] = metric(pbo,"pathLength")

pLenSummary=2×4 table
                            Mean     Median    StdDev     sampleSize
                           ______    ______    _______    __________

    plannerHAFcn_plnFcn    10.349    10.349          0        5     
    ppRRTStar               12.84      12.9    0.67112        5     

pLenData=2×5 table
                            Run1      Run2      Run3      Run4      Run5 
                           ______    ______    ______    ______    ______

    plannerHAFcn_plnFcn    10.349    10.349    10.349    10.349    10.349
    ppRRTStar                13.8      12.9      12.2        12      13.3

Visualize all the metrics.

show(pbo)

Closely inspect the clearance metric.

figure
show(pbo,"clearance")

Input Arguments

plannerBM — Path planner benchmark

plannerBenchmark object

Path planner benchmark, specified as a plannerBenchmark object.

planFcn — Plan function of path planner

function handle

Plan function of path planner, specified as a function handle.

The function handle should be of the form, @(initOut,start,goal)planFcn(...), where initOut is the output of the initialization function.

If the initializationFcn input is not specified, the function handle should be @(env,start,goal)planFcn(...), where env is the Environment property of plannerBenchmark object.

The first output of planFcn must be either a navPath object, m-by-2, or m-by-3 matrix.

Data Types: function_handle

initializationFcn — Initialization function of path planner

function handle

Initialization function of path planner, specified as a function handle.

The function handle should be of the form, @(env)initializationFcn(...), where env is the Environment property of plannerBenchmark object.

The output of initializationFcn is the first input to the planFcn function handle.

Data Types: function_handle

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Before R2021a, use commas to separate each name and value, and enclose Name in quotes.

Example: addPlanner(pbo,plnFcn,plannerRRTSFcn,PlannerName="ppRRTStar")

PlannerName — Name of planner

character vector | string scalar

Name of planner, specified as character vector or string scalar.

The default planner name depends on one of the following,

• If workspace variable name of initializationFcn and planFcn are initVar and planVar, respectively, the default planner name will be "initVar_planVar".

• If the optional initializationFcn input is not specified then the default planner name will be "planVar".

• If the function handles are specified as anonymous functions directly inside the addPlanner function, the default planner name will be "CustomInitFcn_CustomPlanFcn".

• If the optional initializationFcn input is not specified and the planFcn function handle is specified as an anonymous function directly then the default planner name will be "CustomPlanFcn".

Data Types: char | string

NumPlanOutput — Number of expected output from plan function

1 (default) | positive scalar

Number of expected output from plan function, specified as a positive scalar.

Data Types: single | double

Version History

Introduced in R2022a