Homotopy Class Planning stops when max_number_classes is reached

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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Homotopy Class Planning stops when max_number_classes is reached #353

Open rokusottervanger opened 2 years ago

rokusottervanger commented 2 years ago

When the max_number_classes is reached, the HCPlanning stops searching for new alternatives. This may lead to suboptimal results like shown below:

suboptimal_teb

Should the HCPlanner not remain searching for better alternatives (perhaps at a lower rate) and throw away the least favorable one once a better alternative was found?