avoiding local minima - Githubissues

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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avoiding local minima #26

Closed rayvburn closed 1 year ago

rayvburn commented 3 years ago

in exemplary world it's easy to achieve by requesting the robot to go towards the wall upfront

rayvburn commented 2 years ago

Local minima avoidance is executed via min_force parameter, which, when set to >1 value, is able to prevent from being stuck.

On the other hand, local minima problem also affects movement when goal is placed near some obstacle - robot oscillates when close to the goal. The solution is to decrease interaction factor when approaching to the goal.

rayvburn commented 2 years ago

ROS base_local_planner has recovery behaviours to recover robot being stuck in 1 place for a longer time

rayvburn commented 1 year ago

Currently local minima is avoided with a use of Simple Sampling Based Trajectory Generator that aims to find a feasible control even when the robot cannot generate reasonable model-based trajectories. Recovering trajectories still must be properly scored by critics before they will be used to command the mobile base.