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Challenge 12: Improve the A* algorithm's efficiency
Manos Tsardoulias edited this page Nov 17, 2015
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Go to your repository, return in challenge_11 (or 9, or 10) branch and create a new one:
git checkout challenge_11
cd ~/catkin_ws/src/autonomous_systems_architectures/
git checkout -b challenge_12The task is to alter the function aStar located here. As you notice the A* performace is quite poor, as it is deployed in the graph created by the map's cells (which are a lot).
The task is to create a more efficient variation of A* algorithm. One idea is to create a simple graph in the unoccupied space and deploy the A* there.
NOTE: This is quite harder than the other challenges
10 out of extra 50
- Installation / setup
- Modules description
- How to execute the code
- Challenge 1 [15 pts]: Obstacle avoidance using the sonars sensors
- Challenge 2 [15 pts]: Obstacle avoidance using the laser sensor
- Challenge 3 [10 pts]: Obstacle avoidance using sonar and laser sensors via a subsumption architecture
- Challenge 4 [10 pts]: Obstacle avoidance using sonar and laser sensors via a motor schema architecture
- Challenge 5 [5 pts]: Publish the robot path
- Challenge 6 [10 pts]: Update the coverage field
- Challenge 7 [15 pts]: Calculate velocities towards path traversing
- Challenge 8 [10 pts]: Calculate velocities towards path traversing, including the sonars and the laser measurements via a subsumption architecture
- Challenge 9 [10 pts]: Calculate velocities towards path traversing, including the sonars and the laser measurements via a motor schema architecture
- Challenge 10 [5 pts]: Improve the subgoal visitation check
- Challenge 11 [10 pts]: Create a smart target selection technique
- Challenge 12 [10 pts]: Improve the A* algorithm's efficiency
- Challenge 13 [up to 25 pts]: Surprise us!