Is there other method to increase the distance between planned paths and obstacles?

HKUST-Aerial-Robotics / Fast-Planner

A Robust and Efficient Trajectory Planner for Quadrotors

GNU General Public License v3.0

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Is there other method to increase the distance between planned paths and obstacles? #51

Closed dssdyx closed 4 years ago

dssdyx commented 4 years ago

In topo-planner, I know "obstacles_inflation" can make paths further than obstacles. But this way will burden processor. From paper, the base of B-spline paths is topo-graph. Is there any way to increase the distance between planned paths and obstacles, particularly in the situation of single obstacle?

ZbyLGsc commented 4 years ago

You can increase "optimization/dist0", which improves the clearance of B-spline.

dssdyx commented 4 years ago

@ZbyLGsc Thanks for your advice！ It's very useful!