Investigate TEB - Githubissues

tranqkhue / bugcar_archieved

Bugcar Workspace

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Investigate TEB #8

Open tranqkhue opened 3 years ago

tranqkhue commented 3 years ago

teb_local_planner is chosen for our project local planner. However, there are uncertainties in TEB's behavior that can affect the behavior of the vehicle (as TEB, maybe, developed for indoor robots)

[ ] Does the proportion of unknown area in cost-map effect TEB's output velocity? (the higher the uncertainty, the slower the vehicle could go)
[ ] Does TEB slow down proportionally if the whole cost map has the value between 0 and 255?

tranqkhue commented 3 years ago

Also, if we can exploit TEB, we may open up some possibilities:

Regulate velocity based on unknown area in local occupancy grid.
Regulate velocuty based on rules, such as priority driving in the right-most area.