search

HKUST-Aerial-Robotics / Fast-Planner

A Robust and Efficient Trajectory Planner for Quadrotors
GNU General Public License v3.0
2.4k stars 665 forks source link

Using Fast-Planner for 2D Robot #103

Open LiJing9876 opened 3 years ago

LiJing9876 commented 3 years ago

Hello,

First of all thanks again for this great repo, I've been working with it for a few months now and it yields great results. Until now I've worked with a quadcopter and now I want to start working with a 2D robot (such as turtlebot). I read the following issue but still have some questions... [https://github.com/HKUST-Aerial-Robotics/Fast-Planner/issues/24]

My problem is that the kino algorithm is planning a path that is not necessarily in the same direction as the yaw direction, i.e in the case of a 2D ground robot the robot could not follow that path because it means moving sidewise...

How can I overcome this issue? Thanks ahead!

zrd1234 commented 2 years ago

Hello,

First of all thanks again for this great repo, I've been working with it for a few months now and it yields great results. Until now I've worked with a quadcopter and now I want to start working with a 2D robot (such as turtlebot). I read the following issue but still have some questions... [https://github.com/[/issues/24](https://github.com/HKUST-Aerial-Robotics/Fast-Planner/issues/24)]

My problem is that the kino algorithm is planning a path that is not necessarily in the same direction as the yaw direction, i.e in the case of a 2D ground robot the robot could not follow that path because it means moving sidewise...

How can I overcome this issue? Thanks ahead! Hello, I am also studying 2d recently. Do you know how to modify it. Thank you.

LinSC666 commented 1 year ago

As a rookie, I also want to learn how to change to 2D space planning, especially non-holonomic robot. [https://github.com/https://github.com/HKUST-Aerial-Robotics/Fast-Planner/issues/24]

LinSC666 commented 1 year ago

As a rookie, I also want to learn how to change to 2D space planning, especially non-holonomic robot. [https://github.com/https://github.com/[/issues/24](https://github.com/HKUST-Aerial-Robotics/Fast-Planner/issues/24)] Hello,may I ask if you have successfully run the fast planner on the 2D differential-wheel robot?I found that changing the search state space to (v, w) resulted in a particularly strange trajectory for the front-end output dynamics constraint. Overall, it was not smooth and often had broken lines. Because I have just read Fast Planner's paper and code, and I still don't understand many of its essence, such as if after changing to a differential car, do UAV and differential robots use the Pontryagin principle to solve two-point boundary value problems in the same way?I transplanted this code intact because I don't know how to change the coefficients of many matrices，it's really just set z to some fixed calues? Looking forward to receiving feedback and guidance, thank you!