New and Old obstacle association strategy

asked 2017-09-06 21:09:46 -0500

czyapp gravatar image

I read about the new obstacle association strategy for teb_local_planner. However I find very limited explanation about it on the site.

While understanding the difference between the two strategy, may I have a more in-depth explanation as to why the new strategy (for each teb pose, find relevant obstacle) is better then the old strategy?

I am guessing it's because the old strategy needs to compute optimistation to every single obstacles in the map which is more computational costly than only selecting those nearby the planned trajectory?

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