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lakshayg / mpel

Motion Planning and Experimentation Library
http://lakshayg.github.io/mpel
MIT License
10 stars 3 forks source link

Fix potential_field_interpolator #8

Closed lakshayg closed 8 years ago

lakshayg commented 8 years ago

In the case when the robot gets stuck in a potential field local minima, the interpolator returns the path as in the image below. This is incorrect because it passes through an obstacle. The correct behavior would be to stop at the local minima itself and print a message that the robot cannot proceed.

screenshot from 2016-07-01 21-25-35

lakshayg commented 8 years ago

Issue fixed. Refer to commit f94e6bf

screenshot from 2016-07-02 05-56-20