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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 we get the direction of the obstacle relative to the aircraft from the ESDF map? #61

Closed IngaVS closed 3 years ago

IngaVS commented 3 years ago

UAV can't find path when UAV in the margin of obstacle,but the obstacle is behind the UAV. So I don't want to consider the obstacle behind the UAV when search path

ZbyLGsc commented 3 years ago

You can query the ESDF and get the gradient at the position of the UAV. The gradient indicates the direction of the closest obstacle.

IngaVS commented 3 years ago

Thank you. I set the margin = 0.5m before , it's too large. The airplane will in the margin sometimes, and can't find path because the noisy will be enlarged to a bolus(r=0.5m). But if margin = 0.2m or 0.3m, the occupancy map need high accuracy, because length of the airplane is 0.6m.