ROS Navigation-----costmap_2d之inflation层简介

1 Inflation Costmap Plugin

1.1 Inflation

膨胀是一个从占用cell向外传播代价的过程，距离cell越远代价越小。 我们给代价地图的代价值定义了如下5种标记来供机器人使用：

• "Lethal" cost means that there is an actual (workspace) obstacle in a cell. So if the robot's center were in that cell, the robot would obviously be in collision.
• "Inscribed" cost means that a cell is less than the robot's inscribed radius away from an actual obstacle. So the robot is certainly in collision with some obstacle if the robot center is in a cell that is at or above the inscribed cost.
• "Possibly circumscribed" cost is similar to "inscribed", but using the robot's circumscribed radius as cutoff distance. Thus, if the robot center lies in a cell at or above this value, then it depends on the orientation of the robot whether it collides with an obstacle or not. We use the term "possibly" because it might be that it is not really an obstacle cell, but some user-preference, that put that particular cost value into the map. For example, if a user wants to express that a robot should attempt to avoid a particular area of a building, they may inset their own costs into the costmap for that region independent of any obstacles.
• "Freespace" cost is assumed to be zero, and it means that there is nothing that should keep the robot from going there.
• "Unknown" cost means there is no information about a given cell. The user of the costmap can interpret this as they see fit.
• All other costs are assigned a value between "Freespace" and "Possibly circumscribed" depending on their distance from a "Lethal" cell and the decay function provided by the user.

     The rationale behind these definitions is that we leave it up to planner implementations to care or not about the exact footprint, yet give them enough information that they can incur the cost of tracing out the footprint only in situations where the orientation actually matters.

1.2 ROS API

1.2.1 Parameters

~<name>/inflation_radius (double, default: 0.55)

• 膨胀半径，膨胀层会把障碍物代价膨胀直到该半径为止

~<name>/cost_scaling_factor (double, default: 10.0)

           膨胀过程中应用到代价值的比例因子，代价地图中到实际障碍物距离在内切圆半径到膨胀半径之间的所有cell可以使用如下公式来计算膨胀代价：

exp(-1.0 * cost_scaling_factor * (distance_from_obstacle - inscribed_radius)) * (costmap_2d::INSCRIBED_INFLATED_OBSTACLE - 1),

公式中costmap_2d::INSCRIBED_INFLATED_OBSTACLE目前指定为254，注意： 由于在公式中cost_scaling_factor被乘了一个负数，所以增大比例因子反而会降低代价