A failure case in campus dataset.
As can be seen in the photo(sorry for the low resolution) The goal_point is in green, which should be un-achievable.
But ideally, the behavior of far-planner should navigate to the rest of the un-explored places, trying to find a way out. After it can't find any way out, it could finally stop.
And as we could see in the visibility graph, there're at least three region to be explored, but far planner no longer inject waypoint.
A failure case in campus dataset.
As can be seen in the photo(sorry for the low resolution) The goal_point is in green, which should be un-achievable.
But ideally, the behavior of far-planner should navigate to the rest of the un-explored places, trying to find a way out. After it can't find any way out, it could finally stop.
And as we could see in the visibility graph, there're at least three region to be explored, but far planner no longer inject waypoint.