avoid trajectories that pass really close to obstacles

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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avoid trajectories that pass really close to obstacles #75

Closed rayvburn closed 12 months ago

rayvburn commented 2 years ago

Robot sometimes hooks on sharp corners even with proper footprint configuration (inscribed radius). It may be related to poor costmap resolution.

Potential solution: evaluate costs of trajectories, select safer ones. Investigate costs related to obstacle distance (maintain longer distance) and path lengths (loosen strictness).

rayvburn commented 1 year ago

(Partially) Resolved in https://github.com/rayvburn/hubero_local_planner/issues/110