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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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Add a recovery behaviour once the global plan has not been updated for N planning periods #122

Open rayvburn opened 8 months ago

rayvburn commented 8 months ago

In such a case, try to implement a back-up recovery - move back until 3/4 of the circle around the robot (with a given radius) consists of the collision-free points.

It may be named as isGlobalPlanOutdated in the RecoveryManager. Requires setting a timestamp of the last global plan update in the planner's setPlan method.

rayvburn commented 8 months ago

Another solution can be as follows: treat the last non-collision pose of the newest available global plan as a temporary goal. When the temporary goal is reached and the global plan was not updated, let's try to apply the stop&rotate recovery or back-up recovery.