DWA: Minimised or Maximised?

asked 2020-03-08 21:22:45 -0500

harryng gravatar image

updated 2021-04-24 02:51:35 -0500

miura gravatar image

Hi all,

The DWA paper implied that DWA chooses the linear velocity and angular velocity so that the objective function is maximised. However, in the Navigation Stack Tuning Guide (http://kaiyuzheng.me/documents/navgui...) [p.9, Section 3.1.3], it mentions that "The objective is to get the lowest cost". Tracing down to the code refers to the same thing: the cost is being minimised.

I am getting confused: Isn't it the objective function the same as the cost? What should be the correct understanding?

Thank you.

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You can either maximize a score or minimize a cost, it really doesn’t matter. Its just how you set up the problem.

stevemacenski gravatar image stevemacenski  ( 2020-03-09 00:33:39 -0500 )edit

@stevemacenski: isn't this an answer instead of a comment?

gvdhoorn gravatar image gvdhoorn  ( 2020-03-10 03:38:57 -0500 )edit

Uh, sure? I thought that was going to be a jump off for more questions. If that resolves the issue then yes

stevemacenski gravatar image stevemacenski  ( 2020-03-10 08:55:14 -0500 )edit