what are the advantages of DWB planner?

locusrobotics / robot_navigation

Spiritual successor to ros-planning/navigation.

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what are the advantages of DWB planner? #48

Closed bxc237 closed 4 years ago

bxc237 commented 5 years ago

Hi, I would like to know that comparing to the original DWA planner, what makes the DWB planner be a better option for the navigation stack? Thanks!

airuchen commented 5 years ago

Hi there, I found this comparison quite useful. You may want to give it a look. https://github.com/ros-planning/navigation2/blob/master/nav2_dwb_controller/README.md

ninamwa commented 4 years ago

Hi. I am confused about this sentence from the link: DWB was meant to replace both the planners in the navigation repository and provides an implementation of both DWA and Trajectory Rollout.

Is DWB an improved version of DWA or is it a combination of DWA and Trajectory Rollout?

DLu commented 4 years ago

For the fullest comments, please check out my talk here

In essence, DWB was written to replace and be backward compatible with dwa_local_planner, and since that package implemented algorithms equivalent to both DWA and trajectory rollout (I believe), DWB can do both as well.