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nobleo / full_coverage_path_planner

Full coverage path planning provides a move_base_flex plugin that can plan a path that will fully cover a given area
Apache License 2.0
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PID Tuning strategy #34

Open FrGe2016 opened 2 years ago

FrGe2016 commented 2 years ago

Hi

I have tried the path planner with my Linorobot and had hard time following the coverage path Screenshot from 2021-11-06 10-24-02

I have a few question regarding the adjustments of the Tracking parameters.

What should be the relation between the target speeds of the Interpolator and the max speed of the robot ( i have set 0.8 max speed of my robot.) Originaly the interpolator was to looking to far away vs the robot on long segments.

Now i have big overshoots on both side of the segments and at the end of the segments. What should be the best strategy to fix that ?

berkettunckal commented 1 year ago

I have this problem too.

liylin6688 commented 1 year ago

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