From: Brian G. <br...@ge...> - 2007-06-22 18:25:22
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On Jun 21, 2007, at 2:25 PM, Fabian Aichele wrote: > > My initial idea was to use the wavefront planner with the updated map, > and the nd local planner instead of vfh. One thing to look out for is that internal cspace construction in the wavefront driver is naive and slow, probably too slow to be used on a constantly changing map. I would recommend poking into the wavefront driver to improve this code (it's possible to dilate obstacles much more efficiently). You may also have to add support for handling a dynamic map, because the wavefront driver probably just gets the map once during Setup. This is not hard; add a clause to Wavefront::ProcessMessage() to handle a MAP_DATA message. Then when your mapping driver publishes a new map, the planner will copy it in, re-dilate the obstacles, and proceed from there as normal. brian. |