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.
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).
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 atmpc_local_planner_params.yaml
).Looking forward to your reply : )