We encountered similar problems recently.

Firstly, as you updated, do not set min_trans_vel to 0. I have some warnings in my yaml file.

Warning! # do not set min_trans_vel to 0.0 otherwise dwa

will always think translational velocities # are non-negligible and small in place rotational velocities will be created.

After that, you may would like trying to tune

path_distance_bias: 1.0
goal_distance_bias: 0.8
occdist_scale: 0.01

These are most important three parameters mentioned in Fox's paper.

By maximizing solely the clearance and the velocity, the robot would always travel into free space but there would be no incentive to move towards a goal location. By solely maximizing the target heading the robot quickly would get stopped by the first obstacle that blocks its way, unable to move around it.

Hope this helps.

We encountered similar problems recently.

Firstly, as you updated, do not set min_trans_vel to 0. I have some warnings in my yaml file.

# Warning! # do not set min_trans_vel to 0.0 otherwise dwa

dwa will always think translational velocities # are non-negligible and small in place rotational velocities will be created.

After that, you may would like trying to tune

path_distance_bias: 1.0
goal_distance_bias: 0.8
occdist_scale: 0.01

These are most important three parameters mentioned in Fox's paper.

By maximizing solely the clearance and the velocity, the robot would always travel into free space but there would be no incentive to move towards a goal location. By solely maximizing the target heading the robot quickly would get stopped by the first obstacle that blocks its way, unable to move around it.

Hope this helps.

We encountered similar problems recently. DWA cannot perform a rotate in spot motion. It will always trying to perform an arc motion, combining trans and rot velocity. However, with fined tuned parameters, it will try to U-turn in a very small radius.

Firstly, as you updated, do not set min_trans_vel to 0. I have some warnings in my yaml file.

# Warning! # do not set min_trans_vel to 0.0 otherwise dwa will always think translational velocities # are non-negligible and small in place rotational velocities will be created.

After that, you may would like trying to tune

path_distance_bias: 1.0
goal_distance_bias: 0.8
occdist_scale: 0.01

These are most important three parameters mentioned in Fox's paper.

By maximizing solely the clearance and the velocity, the robot would always travel into free space but there would be no incentive to move towards a goal location. By solely maximizing the target heading the robot quickly would get stopped by the first obstacle that blocks its way, unable to move around it.

Hope this helps.