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karlkurzer / path_planner

Hybrid A* Path Planner for the KTH Research Concept Vehicle
http://karlkurzer.github.io/path_planner/
BSD 3-Clause "New" or "Revised" License
1.56k stars 538 forks source link

Problems with map resolution #40

Closed HongboZhang95713 closed 3 years ago

HongboZhang95713 commented 3 years ago

Hi Karl, thx for sharing your codes, they help me a lot!

I got some problems by using maps with resolution of 0.05. I've seen this problem in many other issues, so I changed dy[] dx[] in class node2D and class node3D, I just multiply them by 20 and I also changed Constants::cellSize to 0.05, still it doesn't work! The results are wired, besides it took very long time. Do you have some ideas where I can fix it?

prob3 prob2 prob1

Hezip commented 3 years ago

Same problem to me!!!

karlkurzer commented 3 years ago

I think this has to do with some hard coded values, the code is not very adaptive, meaning a change in cell size probably requires different motion primitives, checking of the collision checker etc. The reason why it takes longer is that a higher resolution increases the number of cells dramatically, so if you go to a cell size of 1/10 it means 100 times more cells, meaning much more to compute. I hope this helps even though if it is not the answer you have hoped for :-)

WeiJunREN commented 3 months ago

Hi Karl, thx for sharing your codes, they help me a lot!

I got some problems by using maps with resolution of 0.05. I've seen this problem in many other issues, so I changed dy[] dx[] in class node2D and class node3D, I just multiply them by 20 and I also changed Constants::cellSize to 0.05, still it doesn't work! The results are wired, besides it took very long time. Do you have some ideas where I can fix it?

prob3 prob2 prob1

Hey, does this problem resolved finally?

karlkurzer commented 2 months ago

No, this repository is not actively being maintained.