How can I implement an HybridA* Path Planning from a specific Map?

 I have a problem in the Plan using the HybridA* while for what concerns the case of a RRT Path planning, I have no problem to run the script.

 

I don't know why the different Path Planning can create this error.

 

load("VI_Track_map.mat");
figure
show(VI_Track_map)
grid on
%% HybridA* Path Planning 
clear validator;
validator = validatorOccupancyMap;
validator.Map = VI_Track_map;
validator.ValidationDistance = 100;
planner = plannerHybridAStar(validator,'MinTurningRadius',20,'MotionPrimitiveLength',20);
figure
show(planner)
start = [7100 7100 0];
goal = [7500 7100 0];
show(planner,"Tree","off")
hold on
%% RRT Path Planning
ss=stateSpaceSE2;
sv=validatorOccupancyMap(ss);
sv.Map=VI_Track_map;
sv.ValidationDistance=30;
ss.StateBounds=[VI_Track_map.XWorldLimits; VI_Track_map.YWorldLimits; [-pi/2 pi/2]];
planner1=plannerRRT(ss,sv);
planner1.MaxConnectionDistance=80;
rng(10000,'twister');
start = [7100 7100 0];
goal = [7500 7100 0];
[pathObj,solnInfo]=plan(planner1,start,goal);
show(VI_Track_map)
hold on
plot(start(1),start(2),'*');
plot(goal(1),goal(2),'*');
plot(solnInfo.TreeData(:,1),solnInfo.TreeData(:,2),'b.-'); % tree expansion
plot(pathObj.States(:,1),pathObj.States(:,2),'r-','LineWidth',2) % draw path

 

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There appear to be quite a few small issues with the script, so let's address them step-by-step:

 

%% HybridA* Path Planning

1) The plannerHybridAStar object has been created and configured, but the script never calls the plan method.

That explains the lack of a tree/path when you call the show method.

 

 

2) If you do call path = plan(planner,start,goal) using the hybridA* planner, you should find that your validatorOccupancyMap throws an error saying that the start-state is invalid.

 

3) The reason for the invalid start-state is that the validator has been configured with no inputs, meaning it contains a default stateSpaceSE2 object in the StateSpace property. plannerHybridAStar's validator uses the state-space to determine whether states passed by the planner are in-/out-of-bounds. With the default StateBounds = [-100 100; -100 100; -pi pi], your hybridA* planner will not be capable of generating a plan for the current start/goal, so these should be updated (similar to what you've done in the RRT section).

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