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HongbiaoZ / autonomous_exploration_development_environment

Leveraging system development and robot deployment for ground-based autonomous navigation and exploration.
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Obstacle is ignored when robot moving towards obstacle #29

Open A2techh opened 7 months ago

A2techh commented 7 months ago

https://github.com/HongbiaoZ/autonomous_exploration_development_environment/assets/135814126/d96e85de-bfcf-44fc-9e30-faa165edb24c

Hi, thank you for the hard work. I am trying to implement your system in real robot, the waypoint function works great. However, I am facing issue for obstacle avoidance, the obstacle is ignored when the robot move near the obstacle. It can be seen at 0:17 of the video in the link.

I only changed the yawRateGain and maxYawRate, what parameter should I tune to avoid this issue?

LiYang-Robot commented 3 months ago

Hello, I have also encountered the same problem recently. When an obstacle is relatively close to the robot, the robot cannot recognize it. I have tested whether this framework combined with target can dynamically avoid obstacles. It is possible for me to enter the path of the robot when I am far away, but the robot cannot avoid obstacles when I am close to it. What should I do? 你好，我最近也遇到了相同的问题，当障碍物距离机器人比较近的时候，机器人也无法识别到该障碍物。我曾测试这个框架与tare结合是否能够动态避障，当我在距离机器人较远的时候进入机器人的路径上，是能够实现的，但是在距离机器人较近的时候机器人却不能够避障，请问我该如何做？