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
1.03k stars 546 forks source link

Line footprint model weird behavior #337

Closed corot closed 2 years ago

corot commented 2 years ago

Looks like TEB handles differently (wrong?) line footprint models, compared with circle. Here I use a line model with both points at 0, 0, so it's effectively a point model:

https://user-images.githubusercontent.com/322610/145192287-5a900f0a-45c9-47a4-b5fe-001487db4bf4.mp4

You can see how weirdly planner works, alternating between being away from one obstacles on one side or the other.

However, an equivalent circle model (note how the solid the footprint marker is of the same size as on previous video), same radius, behaves as expected:

https://user-images.githubusercontent.com/322610/145192468-2e6362d9-5804-465b-a41d-04f374a66e3d.mp4

corot commented 2 years ago

No idea what I was doing wrong, but this doesn't happen anymore