perform trajectory prediction of dynamic objects in the planner, not in cost functions

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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perform trajectory prediction of dynamic objects in the planner, not in cost functions #93

Closed rayvburn closed 1 year ago

rayvburn commented 1 year ago

Related to HeadingDisturbanceCostFunction and PersonalSpaceIntrusionCostFunction (and possibly FformationSpaceIntrusionCostFunction in the future).

Aims to optimize usage of resources.

rayvburn commented 1 year ago

Robot trajectory has to be investigated individually in cost functions, prediction in the planner does not make sense.

Possible approaches for people/dynamic objects prediction:

create a new class that wraps Person class and provides prediction, like struct PersonWithTrajPrediction - predict once the new data is received
extend World class extending typical dynamic obstacle representation with the Person's specific attributes, e.g., pose covariance

rayvburn commented 1 year ago

World class needs to be completely redesigned to make it right throughout the modules (e.g., SFM). To make it working properly, World will be slightly modified as a "quick fix".

rayvburn commented 1 year ago

For now, let's leave that version. Later, obstacles, people and groups must be explicitly incorporated into World model instead of static and dynamic objects.