[ros-users] Incremental heuristic search in move_base

[Ye Cheng]

Hi Eitan,

Here is my ticket: https://code.ros.org/trac/ros-pkg/ticket/4645. Hope it's
fine.

Cheers,
Simon

On Tue, Dec 21, 2010 at 8:26 PM, Eitan Marder-Eppstein <
eitan at 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 <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
>>
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>>
>
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