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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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About max_vel and max_acc parameters #79

Closed nuyhead-hwang closed 3 years ago

nuyhead-hwang commented 3 years ago

Hi. First of all, thank you for nice work sharing.

We have tested your mapping and path planning algorithms on our LiDAR(Ouster) and LOAM.

Screenshot from 2020-11-20 00-36-27

But when we decrease 1/10 times max_vel, max_acc, searching path (Red line in below figures) are diverging (below figure).

Screenshot from 2020-11-20 00-33-07

And we found the similar problem in #64 .

So, we decrease 1/10 times search/resolution_astar in kino_algorithm.xml file like max_vel, max_acc.

But the result are not same as origin parameters.

How to configure other parameters when we want to decrease max_vel and max_acc ?

Thank you.

ZbyLGsc commented 3 years ago

@vislero After some checks we find it is not only a parameter setting problem, but also a bug caused by B-spline parameterization. We just fix the problem and in our test the planner works under max_vel= max_acc = 0.5. Besides the params you mentioned, we also suggest to set search/max_tau to a larger value. This param represents the duration of each motion primitive in the path searching.

nuyhead-hwang commented 3 years ago

@ZbyLGsc Thank you very much !