Weird deceleration in TEB local planner

Hi, when running navigation for amr project, I met a weird problem about the deceleration when the robot approaches the goal.

Here are two images about the linear velocity taken in gazebo and real world.

Gazebo simulation image description

Real world running image description

From the images, it's obviously that the robot can start very smooth in both situation, but can only stop smooth in gazebo simulation. In real world, the robot failed to do so.

The test in both environments is "go straight only", so I use rviz to plot the cmd_vel/linear/x.

Is there anyone that faced the same issue before and can give some advices?

Thanks.

Asked by RyanChen.YLC on 2022-07-25 00:34:08 UTC

Comments

Answers

This weird deceleration comes from the system response of the robot.

When Nav algorithm commands, the robot needs 0.3s to reach that speed.

As approaching the goal, the algorithm outputs low speed commands while the robot remains high speed, resulting in the robot reaching the goal earlier than what the algorithm computes. So the algorithm will immediately commands zero speed to the robot to stop it.

Asked by RyanChen.YLC on 2022-08-01 19:43:38 UTC