Global Cost map & Planner

Global Cost map & Global Planner

We have already created a map through mapping. We will refer to this again as a static map. Based on static map, a Global Cost Map is created. The overall path of autonomous driving is completed through this cost map.

Calculating the overall route like this is called the Global Planner.

Afterwards, the overall route calculated by the Global Planner is sent to the Local Planner.