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stephanheinemann / worldwind

NASA Worldwind extensions for SWIM-based planning decision-making and support
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Increase Environment Base Cost #61

Open stephanheinemann opened 3 years ago

stephanheinemann commented 3 years ago

The normalized environment base cost should account for the fact that negative costs can be integrated into an environment in order to model advantageous situations such as tail winds or otherwise favorable areas (routes). Hence, the base cost has to be increased to the maximum possible negative cost. In general, cost limiting during cost calculations has to be reviewed.

stephanheinemann commented 3 years ago

Given that the maximum accumulated cost should be limited to be within -100 to 100, the base cost should probably be 101. Any admissible and consistent heuristics remain valid based on the unweighted Euclidean distance. Use different grey values for displaying negative costs as opposed to the colored values for positive costs.

stephanheinemann commented 2 years ago

Increasing the base cost will however lead to slower A expansion since the heuristic underestimates significantly. For ARA the inflation should be limited only by the maximum cost.