Bug: potential_field_interpolator cannot interpolate in certain cases

lakshayg / mpel

Motion Planning and Experimentation Library

http://lakshayg.github.io/mpel

MIT License

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Bug: potential_field_interpolator cannot interpolate in certain cases #9

Closed lakshayg closed 8 years ago

lakshayg commented 8 years ago

Runtime parameters:

Graph Builder: probabilistic_graph_builder
Graph Search: Dijkstra's search
Interpolator: Potential field interpolator
workspace: 010.bmp

Message from potential_field_planner: "Cannot recover from local minima, path not found"

How to reproduce? - Unknown

screenshot from 2016-07-02 06-51-05

lakshayg commented 8 years ago

Issue fixed. Refer to commit 43e853c. The problem occurred because the parameter d used for calculating the repulsive potential was too high. This caused the potential to be very strong in a larger region around obstacles thus blocking narrow passages.