try to improve a robot behaviour when entering narrow passages (e.g., doors)

rayvburn / humap_local_planner

Human-aware robot trajectory planner using a hybrid trajectory candidates generation and spatiotemporal cost functions

BSD 3-Clause "New" or "Revised" License

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try to improve a robot behaviour when entering narrow passages (e.g., doors) #115

Open rayvburn opened 11 months ago

rayvburn commented 11 months ago

Currently, it sometimes happen that the robot is stuck near the obstacle despite not being in a collision yet. The cause is that the planner regards the robot being in collision when the robot is located very close to an obstacle (due to #110 which provides collision avoidance in such situations).

This is a follow up of these issues:

71,
75,
110.

rayvburn / humap_local_planner

try to improve a robot behaviour when entering narrow passages (e.g., doors) #115

71,

75,

110.