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HKUST-Aerial-Robotics / Fast-Planner

A Robust and Efficient Trajectory Planner for Quadrotors
GNU General Public License v3.0
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Can this great project be used for 2D navigation of mobile robots? #24

Closed shaoxiang closed 4 years ago

shaoxiang commented 4 years ago

Thank you very much for this great open source project. I want to use it in 2D navigation of mobile robot. Do you think it is suitable? Any suggestions？Thanks.

ZbyLGsc commented 4 years ago

@shaoxiang Yes of course, 2D is even easier than 3D. Just set z to some fixed values.

fxprime commented 4 years ago

@ZbyLGsc Can i apply laser scan as sensor source (maybe convert to pointcloud first) for 2D navigation? Will it have some incompetible with algorithm? Thank you advanced.

ZbyLGsc commented 4 years ago

@fxprime Yes of course, we can also take sensor pose and pointcloud as input to update the map. You may check the .launch file for details.

LeeXujie commented 4 years ago

@shaoxiang Yes of course, 2D is even easier than 3D. Just set z to some fixed values.

Hello, Dr. Zhou. Which z should be set to a fixed value? And where to set it? Thank you very much!

LiJing9876 commented 3 years ago

Hey, First of all, great repo!

Similar question here, my problem is that the kino algorithm is planning a path that is not in the same direction as yaw direction, i.e in the case of a ground robot moving sidewise... How can I overcome this issue? Thanks ahead!

zrd1234 commented 2 years ago

@shaoxiang是的，当然，2D甚至比3D更容易。只需将 z 设置为一些固定值即可。 Hello, can you tell me how to modify it? I want to make a 2D plan. Thank you.

LinSC666 commented 1 year ago

@shaoxiang Yes of course, 2D is even easier than 3D. Just set z to some fixed values.

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!