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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
561 stars 159 forks source link

Vehicle unable to move normally #49

Open lttt123 opened 1 year ago

lttt123 commented 1 year ago

Hello, I have now integrated the plugin into Movebase and lowered the frequency to enable global full coverage path planning. However, after 3 to 4 rounds, the car will have two goals, which means it has a goal. When the car advances towards this goal, the car will have the next goal, and then on the way to the next goal, it will go back to the previous goal, This leads to two targets within a certain area, and the car will move back and forth, ultimately causing it to be unable to travel. The relevant video has been sent to your email, please take a look

rokusottervanger commented 1 year ago

Pro tip: you can add GIFs in your comments to show what's happening.

I think what is happening here is that your local planner sees two poses in the path, and does not "know" which one to pick first. You might want to interpolate the global plan first, before you follow it with a local planner, or configure your local planner such that it prioritizes points further along the path (if possible).

1234564lll commented 1 year ago

Pro tip: you can add GIFs in your comments to show what's happening.

I think what is happening here is that your local planner sees two poses in the path, and does not "know" which one to pick first. You might want to interpolate the global plan first, before you follow it with a local planner, or configure your local planner such that it prioritizes points further along the path (if possible).

So should I give up the TEB planner and choose another planner

rokusottervanger commented 1 year ago

I think the TEB planner is overkill in this context, as it is designed to a lot of the global planning for you too. I would use something like a DWA planner, or something even simpler to follow a path like this.

If you do want to use the TEB planner, I think it allows you to sample the global plan with "via points": global_plan_viapoint_sep, and add a weight to the optimization such that its plan is pulled towards the via points. That should help with getting the TEB planner to work.

Disclaimer: I have never tried this combination myself. I'd love to hear if and how this works for you.

1234564lll commented 1 year ago

I think the TEB planner is overkill in this context, as it is designed to a lot of the global planning for you too. I would use something like a DWA planner, or something even simpler to follow a path like this.

If you do want to use the TEB planner, I think it allows you to sample the global plan with "via points": global_plan_viapoint_sep, and add a weight to the optimization such that its plan is pulled towards the via points. That should help with getting the TEB planner to work.

Disclaimer: I have never tried this combination myself. I'd love to hear if and how this works for you.

I tried to increase or decrease the proportion coefficient, via points, etc., but it still doesn't work, and I have a question. I will give it a target point, will this code eventually stop near the target point