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robotika / osgar

Open Source Garden (Autonomous) Robot
MIT License
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Use two parameters for wall follow (gap_size and wall_dist) #811

Closed m3d closed 3 years ago

m3d commented 3 years ago

Now the robots can enter narrow corridors and navigate in the middle of them.

m3d commented 3 years ago

reference run ver107wall, TC1 (narrow passage on the left), 64b314f4-2f77-4d25-b5f0-0f7f256d9ffc (by accident I sent one Freyja also to FQ world)

m3d commented 3 years ago

The first narrow passage Freyja handled without any problem: tc1-narrow-passage

m3d commented 3 years ago

I am running X4 now in TC1 (and accidentally in TC2 too) - 365b7a52-da0d-439d-881c-0907cfd35ada just to see if it enters the narrow passage with current parameters and how it will behave.

m3d commented 3 years ago

I am running X4 now in TC1 (and accidentally in TC2 too) - 365b7a52-da0d-439d-881c-0907cfd35ada just to see if it enters the narrow passage with current parameters and how it will behave.

As expected the drone is not entering the narrow passage. I will copy & paste the minimal gap from Freyja which navigated nicely there. The issue could be with turning.

m3d commented 3 years ago

alternative run ver107wall2 with params like Freyja (d29af295-facb-4324-ab41-3a34f9f73d86)

m3d commented 3 years ago

X4 got into the narrow passage. I would count that as an improvement.

I do not know - have you seen it? before: state tlog after: state tlog

For Freyja it is surely improvement, for X4 I suppose that there will be some tweaks needed. At least I would like to double check why this difference, but now I am already "dead" :(

m3d commented 3 years ago

p.s. I checked the video from ver107wall2 and you are right (!) that the drone really entered the narrow passage, but then it was trapped in the small area and did not return (BTW we may use "symmetry" for X500?) and then it was "going crazy straight" to recover ... so you are right, I would also go for merge, thanks.

jisa commented 3 years ago

And you are also right ... I stopped watching when it got finally out of the narrow dead end and did not see it not even turning left.

My proposal would be to also set direction_adherence to some lower value than the default 90 degrees. I guess that going backwards, where we cut-off lidar by restricting it to 270 degrees, seemed safer to it than the narrow exit and "good enough" with respect to the very relaxed direction constraint.

m3d commented 3 years ago

And you are also right ... I stopped watching when it got finally out of the narrow dead end and did not see it not even turning left.

My proposal would be to also set direction_adherence to some lower value than the default 90 degrees. I guess that going backwards, where we cut-off lidar by restricting it to 270 degrees, seemed safer to it than the narrow exit and "good enough" with respect to the very relaxed direction constraint.

Sorry, I was too quick :( ... i.e. already merged. We could do more "tuning" in following PR, sorry. OT I run the "whole army" on TC1 now, just curious (I guess that multiple robots will be crowded in narrow passages) - 91ee8250-c309-46e6-8b80-122006bb912d

m3d commented 3 years ago

p.s. the right drone failed in "double narrow passage" on the right side: tc1-right-drone