ERT-connect is one of the newest experience based planner [1]. ERT connet implementation exists as a PR to a OMPL ompl/ompl#783. However the PR seems inactive.
So, This repository pickup the PR and port to a standalone repository and provide minimalistic example.
In the original code in PR, the procedure to pickup a single trajectory from the library is not implemented. However, from the equation (4) of the RA-L paper, I found that it is the same as Lightning's. Thus, I implemented the relevant trajectory selection by using LightningDB already exists in ompl.
Assume you are running on ubuntu 20.04 or higher (will fail to build in older ubuntu due to boost version mismatch)
install and build
sudo apt install libompl-dev libboost-filesystem-dev libboost-serialization-dev -y
git clone https://github.com/HiroIshida/ertconnect
cd ertconnect
mkdir build && cd build
cmake -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCMAKE_BUILD_TYPE=Release ..
make -j4./build/minimalistic_example
Debug: RRTConnect: Planner range detected to be 0.282843
Info: RRTConnect: Starting planning with 1 states already in datastructure
Info: RRTConnect: Created 24 states (12 start + 12 goal)
Info: Solution found in 0.094672 seconds
rrt-connect average solving time: 0.0946724
Info: ERTConnect: Updated experience has 7 states
Info: ERTConnect: Updated experience solves the current problem defition!
Info: Solution found in 0.039897 seconds
ert-connect average solvign time: 0.0398972
add comparison with lightning [2] and thunder [3] planners.
[1] Pairet, Èric, et al. "Path planning for manipulation using experience-driven random trees." IEEE Robotics and Automation Letters 6.2 (2021): 3295-3302. [2] Berenson, Dmitry, Pieter Abbeel, and Ken Goldberg. "A robot path planning framework that learns from experience." 2012 IEEE International Conference on Robotics and Automation. IEEE, 2012. [3] Coleman, David, et al. "Experience-based planning with sparse roadmap spanners." 2015 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2015.