This ros2 package contain some additionnal nav2 planners, in order to understand how to make some and implement newer approaches
Build this package and source it, then change the planer in your nav2 config file
planner_server:
ros__parameters:
expected_planner_frequency: 20.0
use_sim_time: True
planner_plugins: ["GridBased"]
GridBased:
plugin: "alternative_planners/WPE"
interpolation_resolution: 0.1
randomness: 10.0
A very simplistic planner provided in the nav2 examples, it features the parameter interpolation_resolution
The Worst Planner Ever, a slight modification of the straight line, adding a randomness variable the noises every points
WORK IN PROGRESS A planner based on the work of https://arxiv.org/pdf/2012.09808 , implementing the Alternating direction method of multiplier, to ensure connectivity maintenance between various robots