From 8e9015c2b16446fbac056fb650dbf541e8301b54 Mon Sep 17 00:00:00 2001 From: Jarek Karwowski Date: Tue, 26 Sep 2023 22:07:31 +0200 Subject: [PATCH] `config` - parameters re-tuned for socially-complaint behaviour and reasonable performance [#92] --- cfg/HumapPlanner.cfg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cfg/HumapPlanner.cfg b/cfg/HumapPlanner.cfg index 8bba3ddb..526306a3 100755 --- a/cfg/HumapPlanner.cfg +++ b/cfg/HumapPlanner.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", 17.5, 0.0) +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("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)