wlwind / a_better_star

A ROS global planner plugin. Maybe it's A better A*.

a_better_star

A ROS global planner plugin. Maybe it's A better A*.
The plugin is a modification of A* global planner from official global_planner package. We use approximate Euclidean distance as heuristics and make it faster than the precise value to compute. And we also update the open list of A* for attempting to get a more optimal path.

Setup plugin

Modify your launch file of move_base.Set the value of rosparam /move_base/base_global_planner to a_better_star/GlobalPlanner. Make sure the name space is correct. There is a brief yaml file as an example in the param folder.

Parameters

The parameters are compatible with the official global_planner package.

• fast_euclidean_resolution
  The resolution of FastEuclideanDistance, default value is 64. Higher the resolution is, more approximate the Euclidean distance is, but more computation should be done.