Cells constantly changing status between blocked and free

jhlenes / complete_coverage

ROS implementation of online complete coverage maneuvering for unmanned surface vehicles

MIT License

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Cells constantly changing status between blocked and free #3

Closed jhlenes closed 5 years ago

jhlenes commented 5 years ago

Because of inaccuracies in lidar measurements, cells bordering obstacles will sometimes continuously change between blocked and free. This causes confusion in the the waypoint generation, where waypoints are generated and removed repeatedly, causing the USV to be stuck going back and forth between the same cells.

jhlenes commented 5 years ago

This issue is almost entirely gone in the newest version of boustrophedon coverage.