beduffy
commented
3 years ago I was also having a lot of problems with kobuki auto-docking, I was writing a lot of stupid code for things like (pseudo-code):
if tried_docking_for_too_long or bumped too many times or aligned_near too many times: try again.
I tried the solution you mentioned of changing the values in your 2nd youtube video. Image below shows this more clearly.
It seems to be working better now but doing more testing. Thanks for your fix
Kobuki can sometimes fail to perform auto-docking. Click here to check out the problem.
We provide a possible solution. Click here to check it out.
After tuning the parameters shown in the video above, kobuki could perform docking normally. The result is shown in this video: here
Before adjusting those parameters, kobuki approaches to the dock with a high linear velocity, leaving a small space for it to adjust its heading, so that kobuki fail to align with the dock many times. Our idea is to increase the angular velocity in order to make kobuki rectify its heading agilely, meanwhile we decrease its linear velocity so that kobuki can get an ample space to align with the dock.
Kevin H.C. Zhao hczhao@wizrobo.com Shenzhen LinkMiao Robotics Co., Ltd.