Local path planner #139
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Local path planner #139
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alekskl01
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Mar 17, 2024
theBadMusician
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Mar 17, 2024
chrstrom
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Mar 18, 2024
chrstrom
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Mar 18, 2024
… will generate new waypoints every time mission_planner is called.
alekskl01
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Mar 20, 2024
alekskl01
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Mar 20, 2024
alekskl01
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Mar 20, 2024
alekskl01
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Mar 28, 2024
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The local path planner finds a path from A to B while avoiding obstacles. Right now it is designed for static environments, and not for collision avoidance in dynamic environment. The local path planner utilizes the D* Lite algorithm, and for it to work it needs to be fed a closed grid of obstacles such that the algorithm doesn't take shortcuts. This means that the mission planner needs to implement the logic needed to create the obstacle grid based on the buoy coordinates from the landmark server. Example of use shown below. The d_star_lite node will send the waypoints to the waypoint manager as a float32[] i.e. [x1, y1, x2, y2, ..., xn, yn].
I would also appreciate help regarding the testing. Especially how to test the ROS2 service that is being used in the d_star_lite_node.