To see the differences between the behavior of Dijkstra's and the behavior of A*, consider the following example. ![]() (Also, no visited-state set is tracked while computing potentials, as in a more typical A* implementation, because such is unnecessary for 4-connected grids). Thus, the actual path found may not be fully optimal in an 8-connected sense. Another thing to note is that in this implementation of A*, the potentials are computed using 4-connected grid squares, while the path found by tracing the potential gradient from the goal back to the start uses the same grid in an 8-connected fashion. This is indeed faster than using Dijkstra's, but has the effect of not necessarily producing the same paths. ![]() Use_dijkstra=False Note that a lot less of the potential has been calculated (indicated by the colored areas). Of what, the maintainer of this package has no idea. Note that the original potential calculation from navfn is a quadratic approximation. Use_quadratic=False Slightly different calculation for the potential. ![]() Use_grid_path=True Path follows the grid boundaries. It was built as a more flexible replacement to navfn, which in turn is based on NF1. This class adheres to the nav_core::BaseGlobalPlanner interface specified in the nav_core package. This package provides an implementation of a fast, interpolated global planner for navigation. ![]()
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