Flying through dense obstacles

Lars-Ki / px4_rrt_avoidance

A UAV collision avoidance package for px4 applications

MIT License

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Flying through dense obstacles #9

Open mjmyt opened 2 years ago

mjmyt commented 2 years ago

1.adjust pixel_size in Line 664 local_map_publisher.py ( 0.1m )

Change the safety distance radius in Line 238 in local_map_publisher.py (0.6) 3.adjust the global map resolution in the launch file Line 33(0.1)

note:The aircraft will stagnate in some places, probably because the RRT star algorithm takes too long to calculate

Lars-Ki commented 2 years ago

Sorry for asking but I can't seem to find the changes you made for placing the local_map under the actual obstacle position again?

mjmyt commented 2 years ago

Hi Lars-Ki，As you said, when I only adjust the above three parameters, the occupied cells are underneath the actual obstacles .

This is the previous image

I am ready to verify other path planning algorithms based on your open source code. When I finish this work, I will share my code and create a merge request or a new branch。Because I'm not very familiar with Python and ROS, this job may take a long time。 Thanks