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Navigation Stack's Global Planning Algorithm

asked 2012-12-19 20:33:26 -0600

moyashi

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updated 2012-12-19 20:33:53 -0600

What kind of algorithm is used for global planner?

I've already read a paper on nav stack, "The Office Marathon".
The paper says that global planner assumes that A* algorithm is used.
And it also refer to a paper "A gradient method for realtime robot control".

Once I asked a similar question and got the latter method is used as global planner.
http://answers.ros.org/question/37332/an-algorithm-used-for-navigation-stack/

A* algorithm is used for ... what ?

Thanks in advance.

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answered 2012-12-20 07:08:43 -0600

Eric Perko

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By default, the navigation stack's global planner (provided by the navfn package) uses Dijkstra's algorithm. See http://answers.ros.org/question/28366/why-navfn-is-using-dijkstra/ for discussion on why that is the case and some more info about the A* implementation available in that package.

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Thank you. I read source code and confirmed the algorithm.

moyashi ( 2013-01-29 14:07:37 -0600 )edit

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Asked: 2012-12-19 20:33:26 -0600

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Last updated: Dec 20 '12

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