From 7394e7a609b3511cf4dd0e692408420c9f02e2f8 Mon Sep 17 00:00:00 2001 From: Jarek Karwowski Date: Sat, 28 May 2022 02:24:49 +0200 Subject: [PATCH] [#75] `HuberoPlanner.cfg` - cost params tuning to avoid trajectories that pass really close to obstacles --- cfg/HuberoPlanner.cfg | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/cfg/HuberoPlanner.cfg b/cfg/HuberoPlanner.cfg index 09474e3c..ad0c6038 100755 --- a/cfg/HuberoPlanner.cfg +++ b/cfg/HuberoPlanner.cfg @@ -121,8 +121,8 @@ group_generator_as.add("fis_as_amplifier_granularity", double_t, 0, "", 1.0, 0.0 # Trajectory generation group parameters group_cost = gen.add_group("Cost", type="tab") -group_cost.add("path_distance_scale", double_t, 0, "The weight for the path distance part of the cost function", 0.6, 0.0) -group_cost.add("goal_distance_scale", double_t, 0, "The weight for the goal distance part of the cost function", 0.8, 0.0) +group_cost.add("path_distance_scale", double_t, 0, "The weight for the path distance part of the cost function", 0.2, 0.0) +group_cost.add("goal_distance_scale", double_t, 0, "The weight for the goal distance part of the cost function", 0.4, 0.0) group_cost.add("occdist_scale", double_t, 0, "The weight for the obstacle distance part of the cost function", 0.2, 0.0) group_cost.add("ttc_scale", double_t, 0, "The weight for the time to collision cost function (scores whole trajectory instead of a single cell)", 3.0, 0.0) group_cost.add("chc_scale", double_t, 0, "The weight for the cost function that penalizes robot heading changes", 1.0, 0.0)