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feat(freespace_planning_algorithms): use distance to nearest obstacle to improve path planning #8089
feat(freespace_planning_algorithms): use distance to nearest obstacle to improve path planning #8089
Commits on Jul 1, 2024
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refactor freespace planning algorithms
Signed-off-by: mohammad alqudah <[email protected]>
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Commits on Jul 2, 2024
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use vector instead of map for a-star node graph
Signed-off-by: mohammad alqudah <[email protected]>
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precompute average turning radius
Signed-off-by: mohammad alqudah <[email protected]>
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Commits on Jul 3, 2024
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add threshold for minimum distance between direction changes
Signed-off-by: mohammad alqudah <[email protected]>
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apply curvature weight and change in curvature weight
Signed-off-by: mohammad alqudah <[email protected]>
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store total cost instead of heuristic cost
Signed-off-by: mohammad alqudah <[email protected]>
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fix reverse weight application
Signed-off-by: mohammad alqudah <[email protected]>
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Commits on Jul 4, 2024
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fix parameter description in README
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implement edt map to store distance to nearest obstacle for each grid…
… cell Signed-off-by: mohammad alqudah <[email protected]>
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use obstacle edt in collision check
Signed-off-by: mohammad alqudah <[email protected]>
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add cost for distance to obstacle
Signed-off-by: mohammad alqudah <[email protected]>
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Commits on Jul 5, 2024
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Merge branch 'awf-latest' into RT1-6959-refactor-astar-planning-algor…
…ithm Signed-off-by: mohammad alqudah <[email protected]>
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Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69…
…61-use-edt-map-to-improve-collision-check-performance Signed-off-by: mohammad alqudah <[email protected]>
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Signed-off-by: mohammad alqudah <[email protected]>
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Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69…
…61-use-edt-map-to-improve-collision-check-performance
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Signed-off-by: mohammad alqudah <[email protected]>
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Commits on Jul 8, 2024
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precompute number of margin cells to reduce out of range vertices che…
…ck necessity Signed-off-by: mohammad alqudah <[email protected]>
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Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69…
…61-use-edt-map-to-improve-collision-check-performance Signed-off-by: mohammad alqudah <[email protected]>
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Signed-off-by: mohammad alqudah <[email protected]>
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Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69…
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add member function set() to AstarNode struct
Signed-off-by: mohammad alqudah <[email protected]>
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Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69…
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Commits on Jul 9, 2024
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implement adaptive expansion distance
Signed-off-by: mohammad alqudah <[email protected]>
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Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69…
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Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69…
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Commits on Jul 10, 2024
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interpolate nodes with large expansion distance
Signed-off-by: mohammad alqudah <[email protected]>
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Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69…
…61-use-edt-map-to-improve-collision-check-performance Signed-off-by: mohammad alqudah <[email protected]>
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Commits on Jul 11, 2024
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ensure expansion distance is larger than grid cell diagonal
Signed-off-by: mohammad alqudah <[email protected]>
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Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69…
…61-use-edt-map-to-improve-collision-check-performance Signed-off-by: mohammad alqudah <[email protected]>
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compute collision free distance to goal map
Signed-off-by: mohammad alqudah <[email protected]>
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Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69…
…61-use-edt-map-to-improve-collision-check-performance Signed-off-by: mohammad alqudah <[email protected]>
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use obstacle edt when computing collision free distance map
Signed-off-by: mohammad alqudah <[email protected]>
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Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69…
…61-use-edt-map-to-improve-collision-check-performance Signed-off-by: mohammad alqudah <[email protected]>
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Commits on Jul 12, 2024
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Signed-off-by: mohammad alqudah <[email protected]>
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Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69…
…61-use-edt-map-to-improve-collision-check-performance Signed-off-by: mohammad alqudah <[email protected]>
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set distance map before setting start node
Signed-off-by: mohammad alqudah <[email protected]>
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Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69…
…61-use-edt-map-to-improve-collision-check-performance
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Commits on Jul 16, 2024
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refactor detect collision function
Signed-off-by: mohammad alqudah <[email protected]>
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Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69…
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add missing variable initialization
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remove declared but undefined function
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Commits on Jul 17, 2024
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Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69…
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refactor computeEDTMap function
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set min and max expansion distance after setting costmap
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Commits on Jul 18, 2024
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refactor detectCollision function
Signed-off-by: mohammad alqudah <[email protected]>
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change default parameter values
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Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69…
…61-use-edt-map-to-improve-collision-check-performance Signed-off-by: mohammad alqudah <[email protected]>
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Commits on Jul 19, 2024
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Signed-off-by: mohammad alqudah <[email protected]>
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Commits on Jul 22, 2024
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Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69…
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use linear function for obstacle distance cost
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Merge branch 'awf-latest' into RT1-6959-refactor-astar-planning-algor…
…ithm Signed-off-by: mohammad alqudah <[email protected]>
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Commits on Jul 23, 2024
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Commits on Jul 26, 2024
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remove redundant return statements
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Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69…
…61-use-edt-map-to-improve-collision-check-performance Signed-off-by: mohammad alqudah <[email protected]>
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Commits on Jul 29, 2024
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check goal pose validity before setting collision free distance map
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Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69…
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declare variables as const where necessary
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Merge branch 'RT1-6959-refactor-astar-planning-algorithm' into RT1-69…
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Merge branch 'awf-latest' into RT1-6961-use-edt-map-to-improve-collis…
…ion-check-performance Signed-off-by: mohammad alqudah <[email protected]>
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Commits on Aug 5, 2024
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compare front and back lengths when setting min and max dimension
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add docstring and citation for computeEDTMap function
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Commits on Aug 8, 2024
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