search

Unmanned-Surface-Vehicle / relaxed_astar

ROS plugin to replace the move_base global planner. Based on http://wiki.ros.org/navigation/Tutorials/Writing%20A%20Global%20Path%20Planner%20As%20Plugin%20in%20ROS .
MIT License
13 stars 2 forks source link

What is the improvement over the traditional A star algorithm? #1

Open hxj0316 opened 2 years ago

hxj0316 commented 2 years ago

Hello, I would like to ask, what is the specific improvement of your algorithm compared with the traditional A star algorithm?

DarlanJurak commented 2 years ago

Hello! There is no improvement. I applied the A Star algorithm into an autonomous boat in USV_SIM (https://github.com/disaster-robotics-proalertas/usv_sim_lsa), the implementation of the relaxed a star is here: http://wiki.ros.org/navigation/Tutorials/Writing%20A%20Global%20Path%20Planner%20As%20Plugin%20in%20ROS

hxj0316 commented 2 years ago

Thank you for your reply, I thought you improved the A algorithm. Have you ever improved the A algorithm?

DarlanJurak commented 2 years ago

Yes, I implemented the following method:

  1. https://github.com/Unmanned-Surface-Vehicle/atc_astar

Based on: Agrawal, P.; Dolan, J. M. “COLREGS-compliant target following for an Unmanned Surface Vehicle in dynamic environments”,IEEE International Conference on IntelligentRobots and Systems, vol. 2015-Decem, 2015, pp. 1065–1070

Additionally, I would like to recommend you three study sources:

  1. General A*: https://www.redblobgames.com/pathfinding/a-star/introduction.html
  2. Robotics implementations of A*: https://github.com/AtsushiSakai/PythonRobotics
  3. Robotics implementations of A/D: https://www.cs.cmu.edu/~motionplanning/lecture/AppH-astar-dstar_howie.pdf