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karlkurzer / path_planner

Hybrid A* Path Planner for the KTH Research Concept Vehicle

Home Page:http://karlkurzer.github.io/path_planner/

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Heuristic Function

santhosh46 opened this issue · comments

commented

Can you please let me know the model of your Heuristic Function, is it the same as the one in the DolgovEtal_2008 paper or you used something different? If it is the same as the one in the paper (using Voronoi Fields), then can you clarify Equation 1 in the "Path-Cost Function Using the Voronoi Field" section in the paper (PFA for the equation)?

Thanks in Advance,
Tschuss :)

eqn