search

rst-tu-dortmund / teb_local_planner

An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)
http://wiki.ros.org/teb_local_planner
BSD 3-Clause "New" or "Revised" License
1.02k stars 546 forks source link

rotation cost (what decides if the robot turns left or right when goal is in-place) #242

Open greymfm opened 3 years ago

greymfm commented 3 years ago

Hello,

First of all : congrats to all of the RST TU Dortmund team - you are doing a great job! :-)

My differential robot (front differential steering) can turn in-place. Sometimes 'teb_local_planner' chooses the most efficient side to turn in-place to the goal pose, sometimes not.

Example: Turning in-place -90 degree would be closer to the goal pose than turning (360-90) degree - but at certain locations (always the same locations) it chooses the less-efficient turning side.

How could I optimize this? The same happens with the differential robot from the 'teb_local_planner' tutorials.

Here's a demo: https://drive.google.com/file/d/1GHitcXlAKp3CfvwvEsnKg1-tFLz5RkJM/view

Thanks for any tips :-) Regards, Alexander

jcmonteiro commented 3 years ago

If I am not mistaken, this will depend heavily on the initial pose graph. You could try to enable homotopy to look for different topologies and see if that changes things.

ZhangJunfeng199 commented 10 months ago

I encountered the same problem. How did you solve it? Looking forward to your reply.