Hi Eitan, Thank you very much for the reply! I will wait for the comments from other people. The visualization of potential array is enlightened by Eric's post here, and I'd like to contribute my code as a patch. I'll open a ticket for the patch soon. Cheers, Simon On Tue, Dec 21, 2010 at 8:26 PM, Eitan Marder-Eppstein < eitan@willowgarage.com> wrote: > Simon, > > The navfn code that you're referring to isn't actually code I wrote, though > I do maintain the navigation stack. Its possible that the author will have > more to say, but I don't have great insight in the best way to use/change > navfn's A* implementation for D* Lite. Visualizing the potential array in > rviz seems like a valuable thing to do, however, if you want to submit a > patch for that, I'd be happy to take it back to navigation. > > Hope all is well, > > Eitan > > On Tue, Dec 21, 2010 at 11:28 AM, Ye Cheng wrote: > >> Hi Eitan, >> >> Here is the story. I have a need of Incremental heuristic search in Base >> Global Planner for long range navigation in an unknown area, so I tried to >> modify your A* in move_base to D* Lite. >> However, it is really difficult to arrange the order of the re-explored >> cells in the priority buffer because you are using the threshold curT to >> control the behavior of the priority queue. And also, some re-explored cells >> have to be updated twice by the D* Lite during the re-planning. So I take >> use of your code to realize a new way: 1) Keep the potarr during one long >> range move; 2) Swap the start and goal cells before the propagation, make >> your A* as a backward version; 3)Do a limited re-propagation when >> re-planning is necessary. I also create a PointCloud2 message for the >> explored potential area, and add this patch >> to visualize the message. >> Here is a screencast of my >> experiment. >> >> At the moment, this method is not stable yet, some times the robot will be >> stopped by the incomplete potential area. Do you think it is a good way to >> do the Incremental replanning? Or it is still possible to realize the D* >> Lite based on your A*？ >> >> Cheers, >> Simon >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> >> > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >