search

MurpheyLab / DistNav

Official repository for the paper "Move Beyond Trajectories: Distribution Space Coupling for Crowd Navigation"
GNU General Public License v3.0
19 stars 1 forks source link

Kinematic constraints of a robot #8

Closed Mirorrn closed 1 year ago

Mirorrn commented 2 years ago

Hello @MuchenSun ,

Is it possible to consider the kinematic constraints of a robot in the planning algorithm presented here?

Thanks a lot :)

MuchenSun commented 1 year ago

Hi @Mirorrn,

Explicit kinematic constraint is not supported by the algorithm. One workaround is to use the trajectories generated as reference trajectories for lower level controllers, such as LQR.

Thank you!