Field guided A* interpolator

lakshayg / mpel

Motion Planning and Experimentation Library

http://lakshayg.github.io/mpel

MIT License

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Field guided A* interpolator #5

Closed lakshayg closed 8 years ago

lakshayg commented 8 years ago

Add an interpolator similar to the SimplePlanner in older version of MPEL. Use A* with the cost function based on distance from goal and potential field gradient. Old source code is available here

modified_heuristic_path

lakshayg commented 8 years ago

This is hardly different from potential field interpolator and vaguely defined. Moreover, potential field interpolator produces much better path so closing the issue.