search

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
0 stars 1 forks source link

consider re-coupling path-related cost functions #99

Closed rayvburn closed 11 months ago

rayvburn commented 1 year ago

Decoupled:

Not decoupled: obstaclecosts (occdistscale)

Ref: https://github.com/ros-planning/navigation/blob/9ad644198e132d0e950579a3bc72c29da46e60b0/dwa_local_planner/src/dwa_planner.cpp#L65

rayvburn commented 11 months ago

As shown in the https://github.com/rayvburn/hubero_local_planner/issues/92, decoupled costs were diversified, so they won't be coupled/merged again.