Selection of optimal path when homotopy_class_planning is true

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

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Selection of optimal path when homotopy_class_planning is true #275

Open ADI201998 opened 3 years ago

ADI201998 commented 3 years ago

Hello. I have noticed that whenever the parameter enable_homotopy_class_planning is set to true, the planner starts to oscillate between two different paths, one from the right of the obstacle and the other from the left. This does not happen everytime though. But whenever it happens, it switches between the two paths continuously due to which it takes too much time to cross the obstacle. Is there any parameter or way to avoid these oscillations?

JaYNits commented 3 years ago

@ADI201998 even I have this bug