The PathDistPrunedCritic extends PathDistCritic by removing the first part of the global plan up to the first local minimum in the distance between the planned path and the robots position.
The intention is to remove that part of the path that the robot already followed from the critic. This is not accurately achieved yet, but already an improvement over not pruning the path.
mintar
commented
4 years ago
The PathDistPrunedCritic extends PathDistCritic by removing the first part of the global plan up to the first local minimum in the distance between the planned path and the robots position. The intention is to remove that part of the path that the robot already followed from the critic. This is not accurately achieved yet, but already an improvement over not pruning the path.