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ZJU-FAST-Lab / ego-planner-swarm

An efficient single/multi-agent trajectory planner for multicopters.
GNU General Public License v3.0
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Terminal cost #31

Closed dssdyx closed 2 years ago

dssdyx commented 2 years ago

In ego-planner, rebound cost only considers smoothness,distance and feasibility.In ego-swarm, terminal cost and swarm cost are added. I understand the swarm cost function, but don't know the usage of terminal cost. It seems that it will help terminal 3 points be closed to local target point, but ego-planner doesn't use it which also works well.

bigsuperZZZX commented 2 years ago

Terminal cost is adopted to expand the solution space so that a potentially better solution may be found.

dssdyx commented 2 years ago

Terminal cost is adopted to expand the solution space so that a potentially better solution may be found.

Thank you for your answer!