# D.6  NavFn Planner

Navfn Planner သည်  Dijkstra or A\*  ကို အသုံးပြုတဲ့ path planning algorithm တစ်ခုပဲဖြစ်ပြီး default planner လည်းဖြစ်ပါတယ်။

<table><thead><tr><th width="231">Parameters</th><th width="283">Description</th><th>Type</th><th>Default</th></tr></thead><tbody><tr><td>&#x3C;name>.tolerance</td><td>Tolerance in meters between requested goal pose and end of path.</td><td>double</td><td>0.5</td></tr><tr><td>&#x3C;name>.use_astar</td><td>A*အသုံးပြုရန်၊ False ဆိုရင် Dijkstra's expansionကိုသုံးရန်</td><td>bool</td><td>FALSE</td></tr><tr><td>&#x3C;name>.allow_unknown</td><td>unknown spaceတွေမှာ planning လုပ်ဖို့ခွင့်ပြုတယ်။</td><td>bool</td><td>TRUE</td></tr><tr><td>&#x3C;name>.use_final_<br>approach_orientation</td><td>If true, the last pose of the path generated by the planner will have its<br>orientation set to the approach orientation, i.e. the orientation<br>of the vector connecting the last two points of the path<br><br></td><td>bool</td><td>FALSE</td></tr></tbody></table>

နမူနာ

```yaml
planner_server:
  ros__parameters:
    planner_plugins: ['GridBased']
    GridBased:
      plugin: 'nav2_navfn_planner/NavfnPlanner'
      use_astar: True
      allow_unknown: True
      tolerance: 1.0
```
