config - parameters retuned for socially-complaint behaviour and re…

…asonable performance [#92]

cfg/HuberoPlanner.cfg

@@ -181,7 +181,7 @@ group_cost = gen.add_group("Cost", type="tab")
 # reasonable results (9.9, 11.0, 12.0 were also tested).
 group_cost.add("path_distance_scale", double_t, 0, "The weight for the path distance part of the cost function", 10.0, 0.0)
 # Note that `goal_distance_scale` at 17.5 may slow down the robot just before the goal (e.g., near walls).
-group_cost.add("goal_distance_scale", double_t, 0, "The weight for the goal distance part of the cost function", 31.5, 0.0)
+group_cost.add("goal_distance_scale", double_t, 0, "The weight for the goal distance part of the cost function", 17.5, 0.0)
 group_cost.add("occdist_scale", double_t, 0, "The weight for the obstacle distance part of the cost function", 0.02, 0.0)
 group_cost.add("occdist_sum_scores", bool_t, 0, "Whether to sum up the scores along the path or use the maximum one", False)
 group_cost.add("occdist_separation", double_t, 0, "The minimum separation that should be kept from obstacles", 0.025, 0.0)
@@ -194,16 +194,16 @@ group_cost.add("occdist_separation_kernel", int_t, 0, "Type of kernel that the r
 group_cost.add("ttc_scale", double_t, 0, "The weight for the time to collision cost function (scores a whole trajectory instead of a single cell)", 3.0, 0.0)
 group_cost.add("alignment_scale", double_t, 0, "The weight for the alignment with the global plan. In a classical DWA implementation equal to `path_distance_scale`", 1.5, 0.0)
 group_cost.add("goal_front_scale", double_t, 0, "The weight for the achievement of the additional goal point placed in front of the mobile base. In a classical DWA implementation equal to `goal_distance_scale`", 8.0, 0.0)
-group_cost.add("unsaturated_translation_scale", double_t, 0, "The weight for deviating from the maximum allowable translational velocities", 0.0, 0.0)
+group_cost.add("unsaturated_translation_scale", double_t, 0, "The weight for deviating from the maximum allowable translational velocities", 55.0, 0.0)
 
 group_cost.add("backward_scale", double_t, 0, "The weight for the backward motion penalisation", 0.08, 0.0)
 group_cost.add("heading_change_smoothness_scale", double_t, 0, "The weight for the cost function that penalizes robot rotational velocity changes", 11.0, 0.0)
 group_cost.add("velocity_smoothness_scale", double_t, 0, "The weight for the cost function that penalizes velocity changes along trajectory", 15.0, 0.0)
 group_cost.add("backward_penalty", double_t, 0, "Penalty (cost) value assigned to trajectory that starts with backward motion", 25.0, 0.0)
-group_cost.add("heading_dir_scale", double_t, 0, "The weight for the cost function that penalizes trajectories that leading towards human center", 60.0, 0.0)
-group_cost.add("personal_space_scale", double_t, 0, "The weight for the cost function that penalizes trajectories that intrude human personal space", 50.0, 0.0)
-group_cost.add("fformation_space_scale", double_t, 0, "The weight for the cost function that penalizes trajectories that intrude F-formation space", 40.0, 0.0)
-group_cost.add("passing_speed_scale", double_t, 0, "The weight for the cost function that penalizes robot trajectories that are not compliant with proper speeds of passing people", 3.0, 0.0)
+group_cost.add("heading_dir_scale", double_t, 0, "The weight for the cost function that penalizes trajectories that leading towards human center", 150.0, 0.0)
+group_cost.add("personal_space_scale", double_t, 0, "The weight for the cost function that penalizes trajectories that intrude human personal space", 100.0, 0.0)
+group_cost.add("fformation_space_scale", double_t, 0, "The weight for the cost function that penalizes trajectories that intrude F-formation space", 100.0, 0.0)
+group_cost.add("passing_speed_scale", double_t, 0, "The weight for the cost function that penalizes robot trajectories that are not compliant with proper speeds of passing people", 15.0, 0.0)
 
 ## Parameters of the cost functions
 group_cost.add("oscillation_reset_dist", double_t, 0, "The distance the robot must travel before oscillation flags are reset, in meters", 0.05, 0.0)