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Rotation angle to frontier #6

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DmytroKushnirSoftserveinc opened this issue Feb 28, 2019 · 1 comment
Open

Rotation angle to frontier #6

DmytroKushnirSoftserveinc opened this issue Feb 28, 2019 · 1 comment
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Heuristics improves cost evaluation or planning order

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@DmytroKushnirSoftserveinc
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Rotation is costly for battery. Rotation is a bigger issue for odometry then linear locomotion.
This heuristics seems relatively simple, but including it means that we have to change the explorer cpp logic to allow combined heuristics.

  1. Implement rotation heuristics.
  2. Add external parameters for the heuristics weighs parametrization.
@DmytroKushnirSoftserveinc DmytroKushnirSoftserveinc changed the title F#4: Heuristics of minimal rotational angle for ranking frontiers. F#4_1: Heuristics of minimal rotational angle for ranking frontiers. Feb 28, 2019
@DmytroKushnirSoftserveinc DmytroKushnirSoftserveinc changed the title F#4_1: Heuristics of minimal rotational angle for ranking frontiers. Heuristics of minimal rotational angle for ranking frontiers. Mar 21, 2019
@DmytroKushnirSoftserveinc
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Mentioned solution code is present in an older package version provided by Bosh

@DmytroKushnirSoftserveinc DmytroKushnirSoftserveinc added the Heuristics improves cost evaluation or planning order label Mar 27, 2019
@DmytroKushnirSoftserveinc DmytroKushnirSoftserveinc changed the title Heuristics of minimal rotational angle for ranking frontiers. Rotation angle to frontier Mar 27, 2019
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