[ros-users] Incremental heuristic search in move_base

[Eitan Marder-Eppstein]

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 <cnhzcy14 at gmail.com> 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<http://idm-lab.org/bib/abstracts/papers/aaai02b.pdf>.
> 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
> <https://code.ros.org/trac/ros-pkg/ticket/4610>to visualize the message.
> Here <http://www.youtube.com/watch?v=jTt4IrsOqEU> 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 at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
>
-------------- next part --------------
An HTML attachment was scrubbed...
URL: <http://lists.ros.org/pipermail/ros-users/attachments/20101221/5ef37b2f/attachment-0003.html>