Comments (7)
Maybe the reference line smoothing went wrong... you can display ref line on rviz to check it out. this part is not very stable, replace it with your own algorithm :)
from path_optimizer_2.
I create the reference line by searched path with dijkstra, the opt_path is not better
from path_optimizer_2.
I fork and modify the code for my diff-robot. kintzhao/path_optimizer_2
from path_optimizer_2.
i met the same problem for ackerman vehicle
from path_optimizer_2.
seems like the issue was caused after reference path smoother, from the image i posted before , the second stage optimization after reference path ignored the upper bound and lower bound which was caculated before. could you help us to fix this the final optimization stage ? thanks very much ! @LiJiangnanBit
from path_optimizer_2.
seems like the issue was caused after reference path smoother, from the image i posted before , the second stage optimization after reference path ignored the upper bound and lower bound which was caculated before. could you help us to fix this the final optimization stage ? thanks very much ! @LiJiangnanBit
It seems impossible to stay within the drivable area with the init position and heading that you chose. In the optimization problem, the vehicle dynamics is a hard constraint so it's possible that the result violates the boundary constraint. :) @cshang412
from path_optimizer_2.
Thanks for your reply ! Yeah,you are totally right, but when i use this part in an dynamic Env, running at 10-20HZ, the reference point or the start_pose & dest-pose all changed very fast, this situation does happen a lot , It's very unsafe, that's why i choose an tricky corner case for start pose and dest-pose to test the algorithorm. i tried to enlarge the safe margin in the config file, not working very well also . still trying to figure out how to handle this situation. @LiJiangnanBit
from path_optimizer_2.
Related Issues (9)
- fix bugs for Ubuntu 20.04 and ROS noetic HOT 5
- how to fixed the target pose HOT 1
- How to modify the code to make it for the differential robot HOT 1
- setConstraints Function
- The equality constraints defined in reference splince smoothing HOT 2
- Reverse supported HOT 1
- This for ROS2 Humble
- 参考论文和资料 HOT 6
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.
from path_optimizer_2.