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consider re-coupling path-related cost functions #99

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rayvburn opened this issue Jun 8, 2023 · 1 comment

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rayvburn commented Jun 8, 2023 •

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Decoupled:

path_costs_ + alignment_costs_ (path_distance_bias_)
goal_costs_ + goal_front_costs_ (goal_distance_bias_)

Not decoupled: obstacle_costs_ (occdist_scale_)

Ref: https://github.com/ros-planning/navigation/blob/9ad644198e132d0e950579a3bc72c29da46e60b0/dwa_local_planner/src/dwa_planner.cpp#L65

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rayvburn commented Sep 24, 2023

As shown in the #92, decoupled costs were diversified, so they won't be coupled/merged again.

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