Principle of BendyRuler algorithm？

lixiaowei · October 25, 2022, 9:03am

Do you know what the principle of BendyRuler algorithm ？

Mustafa_Gokce · October 25, 2022, 9:58am

I think it is a variant of the D star algorithm.
Can be found in here:

lixiaowei · October 25, 2022, 10:04am

Thank you very much, brother

lixiaowei · October 27, 2022, 1:21am

The algorithm is still unclear

Mustafa_Gokce · October 27, 2022, 9:06am

Well, you need to take a look at the source code:

github.com

AtsushiSakai/PythonRobotics/blob/master/PathPlanning/DStar/dstar.py

"""

D* grid planning

author: Nirnay Roy

See Wikipedia article (https://en.wikipedia.org/wiki/D*)

"""
import math

from sys import maxsize

import matplotlib.pyplot as plt

show_animation = True


class State:

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github.com

ArduPilot/ardupilot/blob/master/libraries/AC_Avoidance/AP_OABendyRuler.cpp

/*
   This program is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation, either version 3 of the License, or
   (at your option) any later version.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#include "AP_OABendyRuler.h"
#include <AC_Avoidance/AP_OADatabase.h>
#include <AC_Fence/AC_Fence.h>
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Logger/AP_Logger.h>

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lixiaowei · October 31, 2022, 6:18am

Recently, I took time to finally understand this algorithm