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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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consider recalculating `occdist_scale` dynamically to increase the clearance from obstacles when the robot is far from the goal #125

Open rayvburn opened 7 months ago

rayvburn commented 7 months ago

Increasing the occdist_scale aims to lower the frequency of entering the "Rotate and Recede" recovery (especially in the real-world experiments).

Increasing the occdist_scale without reducing it near the goal may cause oscillations while preparing to reach the goal position.