Implemented an inflated occupancy grid's radius to extend the state checking capability in path planning. Implemented dynamics occupancy grid to update the new occupancy grid in the dynamics environment.
- git clone git@github.com:ZJU-FAST-Lab/sampling-based-path-finding.git
- cd sampling-based-path-finding/
- catkin_make
In two seperate terminals, source first, then:
- roslaunch path_finder rviz.launch
- roslaunch path_finder test_planners.launch
In Rviz panel, add a new tool "Goal3DTool", press keyboard "g" and use mouse to set goals.
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Aditya Mandalika and Rosario Scalise and Brian Hou and Sanjiban Choudhury and Siddhartha S. Srinivasa, Guided Incremental Local Densification for Accelerated Sampling-based Motion Planning," in Arxiv, 2021, https://arxiv.org/abs/2104.05037
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