Path planning search parameter dialog

The path planning search parameter dialog is part of the path planning dialog. The dialog displays the various search parameters of a given path planning object. In the path planning dialog, select a path planning object, then click the Adjust search parameters button to open this dialog:

[Path planning search parameter dialog]


  • Holonomic type: the type of holonomic path planning (the type of configuration space).
  • Delta axis (x/y/z): when the holonomic path planning task allows a one degree of freedom rotation, then that rotation is specified around the delta axis. The delta axis is relative to the start dummy's reference frame.
  • Linear / angular step size: the maximum linear / angular variation between two consecutive collision-free configurations. Use smaller values if the robot jumps over the obstacle.
  • Min. turning circle diameter: the smallest turning circle diameter for a non-holonomic vehicle.
  • Visualize the search area: if enabled, then the search area is visualized in the scene. This helps to properly set-up a search area that is appropriate (not too big, not too small) for the given task. It is also important to remember that the start and goal configuration should not be in a colliding (or under the minimum distance threshold) state, otherwise the search procedure will not succeed.
  • Search minimum, range and direction: the search area (relative to the start dummy's reference frame), and the allowed search direction. Large search areas require more calculation time, small search areas might not be able to find a valid path.

  • Recommended topics

  • Path planning dialog