What are the downsides of disabling homotopy class planning in Teb Planner ?

asked 2019-09-16 09:06:31 -0500

robot_new_user gravatar image

According to the documentation of the Teb Planner, enabling homotopy class planning requires much more CPU resources. Disabling this would mean that only one trajectory is optimized. But what exactly do we lose if multiple trajectories are not optimized in parallel in terms of quality of the path planning ? What are advantages of having multiple optimized trajectories and how does the planner make a choice between them?

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