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Planner

The Planner mode lets you design robot missions and compute planned paths directly in the browser, using the same algorithms as the replan CLI tool.

Workflow

  1. Switch to PLANNER using the tab in the top-right corner.
  2. Click on the map to place waypoints. Drag any waypoint to adjust it.
  3. Select a planning mode and configure parameters in the sidebar.
  4. Click Replan Path to compute the path between the placed waypoints.
  5. Download the result as a GPX file or send it directly to the robot via Wormhole.

Import / Export

Button Description
Import GPX Load an existing GPX track as the initial set of waypoints.
Download Export the planned path as a .gpx file.
Wormhole Send the planned path directly to the robot over the network.
Delete All Remove all placed waypoints.
Keep Endpoints Remove intermediate waypoints, keeping only start and end.

Planning Mode

Mode Description
All terrain — A* Grid-based A* that finds the optimal path while avoiding OSM barriers and manual annotations. Recommended for most use cases.
All terrain — RRT* Sampling-based planner. Faster in large open areas; converges to optimal asymptotically.
Paths only Constrains the route to the OSM road and footway network, including manually annotated paths. Produces clean, on-path results but cannot leave designated ways.

Path priority

Both OSM ways and manually annotated paths take priority over obstacles. A path that physically overlaps a barrier polygon is still considered traversable — the planner will route through it. This lets you tunnel an annotated path through an OSM barrier (e.g. a gate through a fence) without modifying the underlying map data.

Routing Options

  • Plan on Footways — include pedestrian footways as traversable ways (enabled by default).
  • Plan on Roads — include vehicle roads as traversable ways.

Planner Parameters

Parameter Default Description
Cell Size (m) 0.25 Grid resolution for all-terrain planning. Smaller values give smoother paths at higher computation cost.
Obstacle Inflation (m) 0.25 Safety buffer added around barrier polygons.
Simplify Path on Remove redundant intermediate waypoints from the result.
Smooth Path off Apply spline smoothing to the planned path.
Show Cost Grid off Overlay the traversal cost grid on the map for debugging. Memory intensive on larger areas.

Highway Costs

The Highway Costs button opens a pop-up window where you can assign a base traversal cost (0.0 = free, 1.0 = obstacle) to each OSM highway type and an extra penalty per surface material. These costs influence which ways are preferred during all-terrain planning (do not apply to paths only).