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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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Prior Map #63

Open vivek-uka opened 12 months ago

vivek-uka commented 12 months ago

Hi,

I am testing your algorithm in an office-like environment. It looks like your approach gets stuck in local minima. Specifically, the high-level planner is unable to find a solution around a long wall. Is there a way to provide global map information?

Video: https://youtu.be/I7T1-zKq7zI

Thanks!

siyuanwu99 commented 6 months ago

Hi Vivek,

Originally EGO-Planner is a local ESDF free planner that can avoid small obstacles. It is not a good solution to your problem, especially in office environments with long walls. In pratice, we give the planner some prior waypoints to navigate in such environments. To achieve this, you may consider passing some waypoints through this function:

https://github.com/ZJU-FAST-Lab/ego-planner-swarm/blob/30de3c9e11e6a2e06d81561f9364f07ceba6774b/src/planner/plan_manage/src/planner_manager.cpp#L377

and specify number of waypoints here:

https://github.com/ZJU-FAST-Lab/ego-planner-swarm/blob/30de3c9e11e6a2e06d81561f9364f07ceba6774b/src/planner/plan_manage/launch/advanced_param.xml#L71

Best,