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Dave Lattanzi’s Laplace Planner

Laplace Planner offers a solution for path finding by storing node charges and neighbor searches in dictionaries, overcoming numerical issues and local minima challenges for optimal results. Ensure proper initialization for successful path discovery.

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Dave Lattanzi’s Laplace Planner

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  1. Dave Lattanzi’s Laplace Planner

  2. Laplace Solution • Store node charges as a dictionary • Originally used state variables and nodeList • Find Laplace solution and store in new dictionary • Not a continuously updated field

  3. Path Finding • Search for neighbor with minimum charge difference • Store as a dictionary of previous nodes

  4. Results • Numerical issues • What’s a good initial charge value? • What’s a good tolerance • Gets stuck at local minima (shouldn’t happen) • Can find path if initialized properly

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