simple modification of min_distance In consideration of obstacles #33
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If there is obstacles between robot and fronter, then |p1-p2| can't represent the true distance. We can introduce the search depth into the distance, because the near frontier will be found at early iteration. So we simply add a distance_cnt * resolution to the original distance to make it close to the true distance between robot and frontier in map.
yxy1996
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If there is obstacles between robot and fronter, then |p1-p2| can't represent the true distance. We can introduce the search depth into the distance, because the nearer frontier will be found at earlier iteration. So we simply add a distance_cnt * resolution to the original distance to make it close to the true distance between robot and frontier in map.