Comments (2)
From the wobbling in https://youtu.be/QHdrfadFhRg I was thinking about how to potentially address it. I believe you mentioned that your aim would be to back out the control point on the path for collision avoidance reasons -- which my understanding would also help with turns in confined environments where going too far ahead isn't possible. I believe that makes the controller wholesale more functional, but doesn't help with the wobbling caused by recomputing the curves constantly.
So my initial thoughts last night over a notepad:
- Only recompute the control points on occasion, not every iteration. Let the robot commit to an action for longer and recompute either every
N
cycles, once the robot has driven N meters, or within some N meter radius of the final control point. Possibly with a velocity multiplier so that we can preemptively recompute it sooner when moving faster (such that if a new curve cannot be found, we have enough time to stop safely at the end of the current curve)
While not related to wobbling, something I want to try and thus documenting here: Either use gradient descent or sample different spiral parameters given the anchors of the boundary conditions and use the best by some scoring metric (distance to path, cost-distance metric, etc), My preference would be gradient descent so its not something tuned on the window sizes and such -- and thus falling into less of the traps of DWA.
from navigation2.
Smoothing out path before execution (greedy, spline?) -- changing gains.
from navigation2.
Related Issues (20)
- MPPI cannot follow global path accurately HOT 1
- [Collision_monitor] Approach polygon time=0 step is not processed HOT 7
- The lidar point cloud of NAV2 shifted significantly after being stationary for 5 minutes. HOT 5
- Errors with controller_server using GPS for Navigation HOT 4
- Obstacle Position Shift in Map after Loading HOT 2
- Full footprint collsion distance in MPPI obstacle critic and use of collision_margin_distance. HOT 14
- local_costmap does not respect the use_sim_time parameter HOT 12
- Vector polygon - Collision Monitor is not available for ROS2 humble HOT 5
- [collision_monitor] Add temporal axis to min_points behavior HOT 2
- [ERROR] [1716697697.080277840] [rviz2]: Lookup would require extrapolation into the future. Requested time 1716697697.040514 but the latest data is at time 1716697697.039929, when looking up transform from frame [laser_frame] to frame [odom]
- Laser Scan rotates with robot ------- [ERROR] [1716697697.080277840] [rviz2]: Lookup would require extrapolation into the future. Requested time 1716697697.040514 but the latest data is at time 1716697697.039929, when looking up transform from frame [laser_frame] to frame [odom] HOT 1
- [for help] action `follow_path` doesn't work (humble) HOT 7
- Changing the params file HOT 1
- Understand MPPI Critics and parameters HOT 2
- 18 bugs (UAF) in `nav2_amcl` by setting dynamic parameters HOT 6
- MPPI ARM Binaries Issue in RPi4 HOT 19
- velocity smoother deadband velocity as an interval HOT 10
- Remove old Gazebo stuff once new gazebo lands HOT 9
- revisit nav2_behavior_tree workarounds HOT 4
- test_decorator_speed_controller complains about not finding template specialization (but succeeds) HOT 8
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from navigation2.