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abdulkadrtr / ROS2-FrontierBaseExplorationForAutonomousRobot

Our autonomous ground vehicle uses Frontier Based exploration to navigate and map unknown environments. Equipped with sensors, it can avoid obstacles and make real-time decisions. It has potential applications in search and rescue, agriculture, and logistics, and represents an important step forward in autonomous ground vehicle development.
MIT License
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The robot collided with an obstacle #6

Closed csf329066629 closed 1 month ago

csf329066629 commented 1 month ago

I wanted to experiment in an actual environment, so I only ran the SLAM node and the FE node (without running the simulation node). My robot was performing well initially, but it collided with the final obstacle(as shown in the picture). Is it an issue related to inappropriate parameter settings of the FE? Could you tell me the solution? fe

abdulkadrtr commented 1 month ago

Hi, You can try increasing the expansion_size value. If this does not work for your problem, try increasing the robot_r value.

The expansion_size value should be increased to prevent the robot from moving too close to defined obstacles on the map. The robot_r value represents the offset distance used by the collision avoidance system when the robot approaches dynamic or static obstacles that are not marked on the map.

https://github.com/abdulkadrtr/ROS2-FrontierBaseExplorationForAutonomousRobot/blob/0a1ec895ff0de1272968e7c2d7e741f3909c3596/autonomous_exploration/config/params.yaml#L3

https://github.com/abdulkadrtr/ROS2-FrontierBaseExplorationForAutonomousRobot/blob/0a1ec895ff0de1272968e7c2d7e741f3909c3596/autonomous_exploration/config/params.yaml#L5

csf329066629 commented 3 weeks ago

I would like to ask if you could delete this issue. I sincerely apologize for any inconvenience this may cause and greatly appreciate your understanding and cooperation in resolving this matter. Thank you for your prompt attention to this request.

abdulkadrtr commented 3 weeks ago

I’m glad to hear that your issue has been resolved. I have closed this issue but decided not to delete it for future reference. This way, others who encounter the same problem can look at this discussion to resolve their issues.