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Roadmap
Here is the current roadmap of Kraken. Please note that this roadmap is only informative and isn't a promise. Depending on Kraken evolution, I may change the tasks priority or even give up some enhancements if their benefit-cost ratio isn't favourable after examination.
- allow orientation piecewise continuity to exploit the full potential of vehicle capable of rotating on themselves.
- allow a constraint on the arrival orientation
Intermediary versions may be added if new ideas come up.
The library is usable and well-documented.
Path recovery for replanning. Should make replanning faster.
Navmash for D* pathfinding. Allows very large map and make Kraken faster.
D* using GPU ? Could make Kraken much faster, but could be a loss a development time. Can't tell yet.
A* multithreading for tentacles computations. Should be easy.
A* way points. Using way points could help the tentacles to focus the right path.
A* postprocess for path smoothing.