GOOGLE

GOOd GLobal Extented-horizon path planning

EDA analysis reminders

There are three important parameters used to adjust SINMOD data and for EIBV exploration.

• $\beta_0 = 0.26095833$
• $\beta_1 = 0.99898364$
• $threshold = 26.81189868$

Here comes the parameters used in the actual test for GRF kernel.

• $\sigma = 1.5$
• $\tau = .4$
• lateral range = 700m
• $\phi = 4.5/700$

HITL test:

Open 4 iterfaces either through tmux or Ctrl+Alt+T.

• cd ~/catkin_ws/
• source devel/setup.bash

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• cd ~/dune_all/build
• ./dune -c lauv-simulator-1 -p Simulation

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• cd ~/catkin_ws/
• source devel/setup.bash
• roslaunch src/imc_ros_interface/launch/bridge.launch

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• cd Simulation_2DNidelva/HITL/
• python3 GOOGLELauncher.py