Issue with Close-Range Loop Closure in Extracted 2D Grid Maps Using far-planner in Simulation

[zly7]

I am encountering a consistent issue while working with far-planner in a simulated environment. The problem arises with the extraction of 2D grid maps, where I frequently observe close-range loop closures that seem unintended and are affecting the planning performance. This will happen when the start point of simulated indoor system with a very high probability.


The above two picture is the vehicle can't move. This will both happen in Ubuntu18 and Ubuntu20.

Any insights or suggestions to resolve this problem would be greatly appreciated. Thank you for your support and for developing far-planner.

Best regards,
Zhang Liyu