stuck at a narrow doorway

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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stuck at a narrow doorway #31

Open 20chase opened 3 years ago

20chase commented 3 years ago

Hi developers,

Thanks for your contribution. I am running the carlike_minimum_time example provided by the repo, setting the 2d goal at [2.87, 7.78]. However, the robot car will be stuck at the narrow doorway as follows. Hereby, I am wondering is it the limitation of the MPC planner? Or, some hyperparameters are not be set properly (I have tried some different hypermeters at mpc_local_planner_params.yaml).

Looking forward to your reply : )

soldierofhell commented 3 years ago

I'd check the output of optimizer