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How to make local planner (dwa) tightly follow global path

noetic

asked 2022-10-07 13:36:52 -0500

AchrafGazzeh
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answered 2022-10-08 07:52:32 -0500

Mike Scheutzow
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updated 2022-10-08 07:54:47 -0500

The dwa_planner has a parameter named path_distance_bias. If you set a larger value, the planner will prefer to stay closer to the global path. However, be aware that if you make the value too large, the planner will be unable to (temporarily) move away from the global path to get around an obstacle in the robot's path.

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Asked: 2022-10-07 13:36:52 -0500

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How to make local planner (dwa) tightly follow global path