mushr path generation #83
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Hi, I'm the University student in Korea. Last year, I studied auto driving using mushr in the University. At that time, I lacked knowledge and learned only shallow knowledge according to that level, so I didn't wonder and didn't learn. But, now I have a question about mushr. 'How does mushr generate a path?'. For generating a path, what algorithm does Mushr use? ex) A*, RRT |
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Hello, I hope this answers your question! |
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Hello,
To answer your question briefly, MuSHR is using a variant of A* called ARA* (anytime repairing A*). While we don't implement it ourselves, our MuSHR GP (global planner) node uses a library called sbpl which implements it for us. You can see how we use the library in the C++ file within the mushr_gp repository, and feel free to adapt it into your own code as well! Here is the paper describing ARA* if you want even more detail. As mentioned in the autonomous navigation tutorial (note our new version of MuSHR is still in beta and as such is a work in progress) we are also developing a more lightweight version of the global planner, which will likely use vanilla A* to achieve similar …