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rst-tu-dortmund / mpc_local_planner

The mpc_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. It provides a generic and versatile model predictive control implementation with minimum-time and quadratic-form receding-horizon configurations.
http://wiki.ros.org/mpc_local_planner
GNU General Public License v3.0
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Support for obstacle inflation #1

Open croesmann opened 4 years ago

croesmann commented 4 years ago

Currently, the mpc_local_planner considers obstacles only by hard-constraints. This allows the planner to pass obstacles very close by without even trying to increase the distance. The DWA planner tackles this problem by taking an inflation layer from costmap_2d into account. The teb_local_planner also provides an inflation concept based on penalty cost functions.

It is also possible to add an inflation concept to the mpc_local_planner, however, an efficient implementation that shares distance computations for both penalty costs and hard-constraints is a bit difficult (but not impossible ;-)) with the current API. So before I start working on this, I would like to wait for some test reports and user experiences.

soldierofhell commented 3 years ago

Hi @croesmann @amakarow, any plans to do it? If no, could you please elaborate more what is the idea of sharing distances computation?

soldierofhell commented 3 years ago

Ok, I think I got where's the problem of sharing computations. We'd like to share the computations in both update() functions in StageCost and in InequalityConstraints. I guess we have to modify NlpFunctions::update(). I will start with implementing independent update for penalty cost and then if succeded to move common computations to NlpFunctions::update()? @croesmann @amakarow, if you've got any guidelines, please share :)