๐ฅD.8 Theta Star Planner
แแฐแแแแบแธ A* algorithm แแญแฏแแฒแแฏแถแธแแผแฎแธ แแผแญแฏแแบแแฒแท angle แแญแฏแแฝแฌแธ แแญแฏแทแแแแฒแทแ แแฏแถแกแแแญแฏ 87 แแฎแแฌ path แแญแฏ แแฝแแบแแฌ 46 ms แแฒแแผแฌแแแฒแทแ
<name>.how_many_corners
To choose between 4-connected (up, down, left, right) and 8-connected (all the adjacent cells) graph expansions, the accepted values are 4 and 8
int
8
<name>.w_euc_cost
Weight applied on the length of the path.
double
1
<name>.w_traversal_cost
Penalisedแแผแ แบแแฒแท high cost nodesแแฝแฑแแฒแท แแผแแบแธแแแบแธแแฐแแญแฏ tuneแแฏแแบแแฑแธแแแบแ แกแแแบแแซequation แแแฑ cost function แแฒแท cost_aware componentแ parabolic curve แแฏแถแแฑแซแบแแแบแ แแฎ Parameterแ แแแบแแญแฏแธแแผแฎแธแแฌแแแบ curve steeper แแฒแถแท differentiation แแแแบแธ แแผแฎแธแแฌแแแบแ cost แแแบแแญแฏแธแแฒแท deltaแแผแฎแธแแฌแแแบ graphแแแแบแธ steepแแผแ แบแแฌแแแบแ
double
2
<name>.use_final_approach_orientation
If true, the last pose of the path generated by the planner will have its orientation set to the approach orientation, i.e. the orientation of the vector connecting the last two points of the path
bool
FALSE
<name>.allow_unknown
Whether to allow planning in unknown space.
bool
TRUE
แกแฑแฌแแบแแแฌแ แแแฐแแฌแแผแ แบแแผแฎแธ แแฎ theta star algorithm แแญแฏแแฏแถแธแแญแฏแทแแญแฏ developer แแฒแท github แแญแฏแแฝแฌแธแแผแฎแธ แแแบแแซแ fune tuning แแผแ แบแแญแฏแทแกแแฝแแบ แแปแแฑแฌแบแแญแฏแทแแฒแท costmap แแฒแท แแญแฏแแบแแแบแท cost_scaling_factor แแญแฏ แแพแฌแแฝแฑแแญแฏแทแแญแฏแแซแแแบแ
planner_server:
ros__parameters:
expected_planner_frequency: 20.0
use_sim_time: True
planner_plugins: ["GridBased"]
GridBased:
plugin: "nav2_theta_star_planner/ThetaStarPlanner"
how_many_corners: 8
w_euc_cost: 1.0
w_traversal_cost: 2.0
w_heuristic_cost: 1.0Last updated