Owning Palette: Path Planning VIs
Requires: Robotics Module
Initializes a path planning session with which the AD* VI operates.
|map reference in is a reference to the map that represents the robot environment. You can use the Create Directed Graph Map VI or Create Occupancy Grid Map VI to generate this LabVIEW class object.|
|start reference specifies the current position of the robot within the map. If this VI operates on a directed graph map or occupancy grid map, you can use the Get Node Reference VI or Get Cell Reference VI, respectively, to generate this LabVIEW class object.|
|goal reference specifies the position to which the robot should navigate within the map. If this VI operates on a directed graph map or occupancy grid map, you can use the Get Node Reference VI or Get Cell Reference VI, respectively, to generate this LabVIEW class object.|
|error in describes error conditions that occur before this node runs. This input provides standard error in functionality.|
|manual epsilon, if TRUE (default), requires you to specify a heuristic multiplier in the AD* VI that controls the optimality of the paths the VI plans. Otherwise, LabVIEW manages the multiplier automatically.
Refer to the Details section for more information about the epsilon value.
|Anytime D* is an object on which the AD* VI operates to plan a dynamic path.|
|error out contains error information. This output provides standard error out functionality.|
The AD* path planning algorithm can be time-intensive if you want a highly optimal path. When you specify TRUE for manual epsilon to control the optimality of the paths the AD* VI calculates, you can balance the time required to plan with the accuracy of the path calculated.
|Note When LabVIEW automatically manages the epsilon value, the paths are not necessarily optimal. Refer to the description of the epsilon input in the AD* VI topic for more information about how LabVIEW manages and uses this value.|
Refer to the Anytime D Star on an Occupancy Grid.lvproj in the labview\examples\robotics\Path Planning\ADstar\ADstar on Occupancy Grid directory for an example of using the Initialize AD* VI.