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ZJU-FAST-Lab / EGO-Planner-v2

Swarm Playground, the codebase of the paper "Swarm of micro flying robots in the wild"
GNU General Public License v3.0
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Planner Unable to create plan in case of wide obstacles #18

Open shubham-shahh opened 1 year ago

shubham-shahh commented 1 year ago

Hi, I was trying to run the planner in an environment with wide obstacles I have set <arg name="virtual_ceil" value="4.5" />

here's how the obstacle actually looks Screenshot from 2023-02-17 16-45-54

when I am trying to plan a path with a goal on the other side of the obstacle, the planner is unable to make a plan. and I am constantly getting warnings [ WARN] [1676632376.780805656, 1023.498000000]: Failed in A star path searching !!! 0.2 seconds time limit exceeded. [ WARN] [1676632376.780850817, 1023.498000000]: A-star error, force return! do I need to change something to avoid such obstacles?

this is the grid map view of the obstacle blockingg

thanks

shubham-shahh commented 1 year ago

@bigsuperZZZX, any update on this?

bigsuperZZZX commented 1 year ago

ego-planner is a local planner which only considers near obstacle avoidance. In your case, a high-level navigator that guides ego-planner by giving local goals is necessary.

shubham-shahh commented 1 year ago

ego-planner is a local planner which only considers near obstacle avoidance. In your case, a high-level navigator that guides ego-planner by giving local goals is necessary.

I see, do you have any quick references on top of your mind which i can refer?

Thanks

bigsuperZZZX commented 1 year ago

Sorry, none of that.

shubham-shahh commented 1 year ago

Sorry, none of that.

Okay, I'll look into it