Cost_scaling_factor

These are the result of changing the value of Cost_scaling_factor.

The following are the pictures of the change according to the value of the cost scaling factor of the global costmap.

../../../_images/cost1.webp

Fig. 15 cost scaling factor 3

../../../_images/cost2.png

Fig. 16 cost sclaing factor 10

The following are the pictures of the change according to the value of the cost scaling factor of the local costmap.

../../../_images/cost3.png

Fig. 17 cost scaling factor 3

../../../_images/cost4.png

Fig. 18 cost scaling factor 10

Conclusion: As the cost scaling factor increases, it can be seen that the range of obstacles recognized by autonomous robots increases.