search

ethz-asl / nbvplanner

A real-time capable exploration and inspection path planner (next best view planning)
342 stars 120 forks source link

Own map exploration #11

Open kelia opened 7 years ago

kelia commented 7 years ago

I'm trying to explore a map that I built in gazebo, but the NBV planner does not explore the full map, it often visits places that it has already been before. The dimensions of the map are 38m x 26m. After 560 iterations, the map is still not fully explored (see screenshot). I use the launch file from flat_exploration.launch, but adapted some parameters. Do these parameters look ok?

Parameter file:

system/v_max: 0.35 system/dyaw_max: 0.25 system/camera/pitch: [15.0] system/camera/horizontal: [90.0] system/camera/vertical: [60.0] system/bbx/x: 0.5 system/bbx/y: 0.5 system/bbx/z: 0.3 system/bbx/overshoot: 0.5

nbvp/gain/free: 0.0 nbvp/gain/occupied: 0.0 nbvp/gain/unmapped: 1.0 nbvp/gain/area: 0.0 nbvp/gain/probabilistic: 0.0 nbvp/gain/range: 1.5 nbvp/gain/zero: 0.0 nbvp/gain/degressive_coeff: 0.5 nbvp/tree/extension_range: 1.0 nbvp/tree/exact_root: true nbvp/tree/initial_iterations: 15 nbvp/tree/cuttoff_iterations: 200 nbvp/dt: 0.1

nbvp/log/throttle: 0.25 nbvp/log/on: true bbx/minX: -28.0 bbx/minY: -19.0 bbx/minZ: 0.2 bbx/maxX: 7.2 bbx/maxY: 5.0 bbx/maxZ: 2.8 bbx/softBounds: false

pcl_throttle: 0.36 inspection_throttle: 0.5 screenshot from 2017-02-08 16 00 10

birchera commented 7 years ago

Hi @kelia, sorry for taking so long for answering. At a quick glance I would say the parameters you chose suit well for smaller scenarios. Especially the maximum of 200 edges in the candidate tree with a maximum length of 1m will only span a part of the scenario. You should be able to improve by increasing the following values to e.g.:

nbvp/tree/extension_range: 2.0 nbvp/tree/initial_iterations: 30 nbvp/tree/cuttoff_iterations: 500

Or even higher. Of course this comes at the cost of increased computation time per iteration.