Performance improvements of navigation

cvra / goldorak

Project Goldorak, CVRA's small robot for Eurobot 2016, running ROS

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Open SyrianSpock opened 8 years ago

SyrianSpock commented 8 years ago

Some suggestions for performance improvements:

Implement a controller (PID ?) on the wheelbase position/orientation
Tune the local planner parameters to maximise perfs
Switch to a nodelets based architecture on all low-level nodes of the differential base (diffbase_controller, diffbase_odometry, uavcan_bridge)

antoinealb commented 8 years ago

Relevant paper discussed last year: trajectory-controller.pdf