Robots pass through each others and stuck sometimes

tuw-robotics / tuw_multi_robot

BSD 3-Clause "New" or "Revised" License

242 stars 113 forks source link

Robots pass through each others and stuck sometimes #28

Closed bxc237 closed 3 years ago

bxc237 commented 3 years ago

Hi, I encountered a similar problem like this one https://github.com/tuw-robotics/tuw_multi_robot/issues/25 . The robot gets stuck and not trying to move at all or robots just go through (collide with) each other. I attach the video here (https://www.dropbox.com/s/p15etm5buafov62/tuw_multi_robot_problem.mp4?dl=0), could you help me with this issue? Thanks.

maxbader commented 3 years ago

There is an issue if the robot's start location is too close to each other :-( The demo was designed to present the capabilities of the multi robot routing, the local planer used is simple. But one can replace it with something which avoids obstacles. It was computational, not feasible to use a DWA or something more complex with hundreds of robots.