For what purpose does the global_planner use the Dijkstra algorithm?
Hi, I'm trying to understand how the method used by the global_planner package works. I had a look at the documentation page, and I'm wondering what exactly the Dijkstra algorithm (or A* algorithm) is used for in this method.
What I understood is that the potential field is calculated using the global map and the goal position, only for the cells travelled with the Dijkstra algorithm which is run from the start position. Is that true?
Note that I'm not trying to change anything, I'd just like to understand the general principle of the method.
I don't really get if you're asking "why" (as in the title) or "how" (as in the question), but have you checked this and this question?