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Navigation Stack's Global Planning Algorithm

asked 2012-12-19 20:33:26 -0500

moyashi gravatar image

updated 2012-12-19 20:33:53 -0500

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.

A* algorithm is used for ... what ?

Thanks in advance.

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answered 2012-12-20 07:08:43 -0500

Eric Perko gravatar image

By default, the navigation stack's global planner (provided by the navfn package) uses Dijkstra's algorithm. See 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 gravatar image moyashi  ( 2013-01-29 14:07:37 -0500 )edit

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Asked: 2012-12-19 20:33:26 -0500

Seen: 1,904 times

Last updated: Dec 20 '12