search

mapbufo / mapBuildingWithFocusPoint

0 stars 0 forks source link

implement local path planning #87

Closed 1029Xiangfei closed 4 years ago

1029Xiangfei commented 4 years ago

start point: path planned with the global map drawback: low resolution -> not the best path (1. not the shortest way 2. several path points can be combined) solution: use local path planning in every frame because it has a higher resolution -> better path

details:

  1. get a local map
  2. check planned global path points and see if these points can be observed in the local map (from far to near; the first seen point will be set as the next pos; all poses in between will be discarded)
  3. move to that point
1029Xiangfei commented 4 years ago

image

1029Xiangfei commented 4 years ago

image problem: points that are planned by local path planning are ignored by next check -> every time those points are deleted -> repeat local path planning possible solution: find out a way to tell if the added path point comes from local path planning (should not be considered) or global path planning (should check if it can be optimized)