I am currently working on path planning of a vehicle for an automatic parking system.
I am currently using pathPlannerRRT() and plan() to generate a path between start and goal pose. The problem that i am facing is, with the same start and goal pose each time i re-run my program, i am getting a different path. Different results each time I re-run indicates that the path being generated is not optimal. Sometimes it is close to optimal, sometimes its very wavy and sub optimal.
How can i better control the path being generated and how can i ensure that the path being generated is optimal?
This is the part of code where i am configuring the path planner:
motion_planner = pathPlannerRRT(cstmp,'MinIterations',2000,'ConnectionDistance',5,'MinTurningRadius',4,'ConnectionMethod','Reeds-Shepp','ApproximateSearch',false);
path = plan(motion_planner,curr_pose,goal_pose);