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Distance to frontier evaluation #7

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DmytroKushnirSoftserveinc opened this issue Feb 28, 2019 · 0 comments
Open

Distance to frontier evaluation #7

DmytroKushnirSoftserveinc opened this issue Feb 28, 2019 · 0 comments
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Heuristics improves cost evaluation or planning order

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DmytroKushnirSoftserveinc commented Feb 28, 2019 •
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Default heuristics for ranking the frontiers uses plane Euclidean metric for evaluating the distance.
As we have a highly structured environment (indoor strongly resembles task of navigation inside the labyrinth) it would be better to use geodesical path distance: 'real distance we have to traverse to reach the point'. For this, we can reuse produced path from the ros_nav nodes (move_base group of packages)

  • TODO: add parametrisation for weight of this heuristic.
@DmytroKushnirSoftserveinc DmytroKushnirSoftserveinc changed the title F#4: Improve distance evaluation heuristics F#4_2: Improve distance evaluation heuristics Feb 28, 2019
@DmytroKushnirSoftserveinc DmytroKushnirSoftserveinc changed the title F#4_2: Improve distance evaluation heuristics Improve distance evaluation heuristics Mar 21, 2019
@DmytroKushnirSoftserveinc DmytroKushnirSoftserveinc added the Heuristics improves cost evaluation or planning order label Mar 27, 2019
@DmytroKushnirSoftserveinc DmytroKushnirSoftserveinc changed the title Improve distance evaluation heuristics Distance to frontier evaluation Mar 27, 2019
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