search

FAST-FIRE / ColAG

ColAG: A Collaborative Air-Ground Framework for Perception-Limited UGVs' Navigation
https://fast-fire.github.io/ColAG/
GNU General Public License v3.0
31 stars 5 forks source link

Collisions between vehicles #1

Open hz-ants opened 4 months ago

hz-ants commented 4 months ago

How to solve the problem of two cars colliding, as shown below： Collisions

South-River commented 4 months ago

The car model makes you feel they are colliding, but actually they are not. In the field experiments, you can modify the param in Ground_WS related to reciprocal collision avoidance by making it larger. You can see the ego planner swarm for more details.

dukuhfgfji commented 4 months ago

This may be that the ugvs are not broadcasting each other's trajectory properly resulting in no mutual avoidance, try modifying the broadcast_ip in run_in_sim.launch