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ZJU-FAST-Lab / ego-planner-swarm

An efficient single/multi-agent trajectory planner for multicopters.
GNU General Public License v3.0
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How to define the drone footprint for collision free path planning? #17

Closed Pallav1299 closed 2 years ago

Pallav1299 commented 3 years ago

Thanks for the great work. Are we defining the drone footprint for collision free path planning in ego-planner-swarm? If yes, how? Is there any parameter for the same? Do we have to configure the obstacle inflation to control the same?

In general, a brief documentation of the planner params would help a lot.

bigsuperZZZX commented 2 years ago

Sorry, I don't quite understand your first sentence, what's the word "footprint" mean?

Pallav1299 commented 2 years ago

Sorry, I don't quite understand your first sentence, what's the word "footprint" mean?

@bigsuperZZZX, "footprint" refers to the robot_footprint from ROS navigation stack. This basically means the dimensions of the robot. So to elaborate, how are we telling the planner about the robot dimensions? Is it considering a point model? With the default planner configuration, I witnessed quite a lot of collisions in simulation tests.

Since I couldn't find a parameter for the robot_footprint, that's when I started comparing it to the ROS Navigation stack. In order to reduce the collisions, I increased the obstacle inflation param in the advanced_param.xml, which I don't think is generally right to do. How do you define the robot dimensions to the planner?

bigsuperZZZX commented 2 years ago

In fact, we use a point model and the obstacle inflation is the right way to define the "footprint".

Pallav1299 commented 2 years ago

@bigsuperZZZX, thanks for the answer.