Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

avoid trajectories that pass really close to obstacles #75

Closed
rayvburn opened this issue May 27, 2022 · 1 comment
Closed

avoid trajectories that pass really close to obstacles #75

rayvburn opened this issue May 27, 2022 · 1 comment
Labels
bug Something isn't working expedite Required for the planner article

Comments

@rayvburn
Copy link
Owner

Robot sometimes hooks on sharp corners even with proper footprint configuration (inscribed radius). It may be related to poor costmap resolution.

Potential solution: evaluate costs of trajectories, select safer ones. Investigate costs related to obstacle distance (maintain longer distance) and path lengths (loosen strictness).
@rayvburn rayvburn added the bug Something isn't working label May 27, 2022
rayvburn added a commit that referenced this issue May 28, 2022
@rayvburn
[#75] HuberoPlanner.cfg - cost params tuning to avoid trajectories …
b94015e 
…that pass really close to obstacles
rayvburn added a commit that referenced this issue May 29, 2022
@rayvburn
[#75] HuberoPlanner.cfg - cost params tuning to avoid trajectories …
20e46da 
…that pass really close to obstacles
rayvburn added a commit that referenced this issue May 30, 2022
@rayvburn
[#75] HuberoPlanner.cfg - cost params tuning to avoid trajectories …
060db6b 
…that pass really close to obstacles
rayvburn added a commit that referenced this issue Jun 20, 2022
@rayvburn
[#75] HuberoPlanner.cfg - cost params tuning to avoid trajectories …
8fa0a15 
…that pass really close to obstacles
rayvburn added a commit that referenced this issue Jul 6, 2022
@rayvburn
[#75] HuberoPlanner.cfg - cost params tuning to avoid trajectories …
4c212f7 
…that pass really close to obstacles
rayvburn added a commit that referenced this issue Jul 17, 2022
@rayvburn
[#75] HuberoPlanner.cfg - cost params tuning to avoid trajectories …
2eee896 
…that pass really close to obstacles
rayvburn added a commit that referenced this issue Jul 17, 2022
@rayvburn
[#75] HuberoPlanner.cfg - cost params tuning to avoid trajectories …
7394e7a 
…that pass really close to obstacles
rayvburn added a commit that referenced this issue Sep 8, 2022
@rayvburn
[#75] HuberoPlanner.cfg - cost params tuning to avoid trajectories …
56b16f4 
…that pass really close to obstacles
@rayvburn rayvburn reopened this Aug 3, 2023
@rayvburn rayvburn added the expedite Required for the planner article label Aug 3, 2023
@rayvburn
Copy link
Owner Author

rayvburn commented Sep 6, 2023

(Partially) Resolved in #110

Also related to #92

@rayvburn rayvburn mentioned this issue Sep 20, 2023
Open
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
bug Something isn't working expedite Required for the planner article
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
1 participant
@rayvburn