search

ailabspace / drl-based-mapless-crowd-navigation-with-perceived-risk

Deep Reinforcement Learning Based Crowd Navigation with Perceived Risk of the Moving Crowd for Mobile Robots
51 stars 7 forks source link

Why set min_scan_range=0.0 in test environment? This will lead to collision. #10

Open kun1224 opened 1 month ago

kun1224 commented 1 month ago

Secondly, edit the turtlebot3_world.yaml file to reflect the following settings:


desired_pose:
    x: -2.0
    y: 2.0
    z: 0.0
starting_pose:
    x: 1.0
    y: 0.0
    z: 0.0```
zerosansan commented 1 month ago

Hi, @kun1224. I set the min_scan_range to 0.0 to disable collisions during testing. There is no chance for an object to be less than 0.0m distance between itself and the robot's sensor so the collision condition would not trigger.

kun1224 commented 1 month ago

Hi, @kun1224. I set the min_scan_range to 0.0 to disable collisions during testing. There is no chance for an object to be less than 0.0m distance between itself and the robot's sensor so the collision condition would not trigger.

Therefore, this will lead to the robot continuing to move forward even though it has already collided with an obstacle.