Pull Request for Team A 2024 Wiki Proposal #156
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
nevalsar
requested changes
May 8, 2023
There was a problem hiding this comment.
Great article! I would like to see two changes to be done throughout the PR:
- Escape all usages of asterisk symbol.
- Use relative paths instead of absolute paths while referencing assets.
- Add a link to the markdown page at
_data/navigation.yml- refer to this commit which adds a page to the navigation index as an example.
Once these changes are made, everything looks good to merge.
| @@ -0,0 +1,115 @@ | |||
| --- | |||
| date: {} | |||
| published: true | ||
| --- | ||
| ## Introduction | ||
| This wiki aims to build on the already excellent A* implementation guide by providing information about different planning approaches to counter the pitfalls of standard A* when applied to physical robots. In the scope of this article are two popular extensions - Theta Star and Safe Interval Path Planning (SIPP) that each have their strengths and weaknesses. |
There was a problem hiding this comment.
Markdown uses asterisk ('*' symbol) to indicate formatting, therefore to render the symbol you need to escape special characters like so: '\*'. More information here.
|
|
||
| ## Overview of Theta* Algorithm | ||
|
|
||
| Theta* algorithm is a pathfinding algorithm that is an extension of the A* algorithm. It is used to find the shortest path between two points in a 2D grid-based environment. |
There was a problem hiding this comment.
See note on special characters above.
|
|
||
| - **Line of Sight Check**: A test that determines if there is a clear path between two points. If a clear path exists, the algorithm can "shortcut" between two nodes, reducing the number of nodes that need to be explored. In practice, this can be implemented as using Bresenham's line drawing equation borrowed from Computer Graphics to approximate lines on 2D grids, with possible speed ups. | ||
|
|
||
| Theta* should always give paths with lower cost than those from standard A*, since the line-of-sight check can only shorten paths. In practice, the paths tend to mimic visibility graphs around obstacles |
There was a problem hiding this comment.
Again, same comment on special characters from above.
|
|
||
| Node Exploration Behaviour of Theta* | Path Comparison | ||
| :-------------------------:|:-------------------------: | ||
|  |  |
There was a problem hiding this comment.
Please use relative path references instead of absolute references.
| published: true | ||
| --- | ||
| ## Introduction | ||
| This wiki aims to build on the already excellent A* implementation guide by providing information about different planning approaches to counter the pitfalls of standard A* when applied to physical robots. In the scope of this article are two popular extensions - Theta Star and Safe Interval Path Planning (SIPP) that each have their strengths and weaknesses. |
There was a problem hiding this comment.
Would be great to link to the page on motion planning and A-star from the site.
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
No description provided.