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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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define `computeTwist` that effectively drives robot straight to the goal when no obstacles are present #38

Closed rayvburn closed 2 years ago

rayvburn commented 2 years ago

Previous title: apply angular velocity correction when defining ideal velocity for internal force

"Ideal velocity", i.e., the one that drives robot straight to the goal pose. The differential drive robot typically has non-zero angular velocity. That is not accounted for in force calculations therefore some kind of correction, when computing so called ideal velocity vector, is necessary.