Ask Your Question
0

ROS Navigation Stack: Global Planner

asked 2014-06-04 17:26:32 -0500

ROSCMBOT gravatar image

Hello,

The tutorial for Navigation Stack states, since the Global Planner assumes circular robots, it produces waypoints that are optimistic for the actual robot footprint, and therefore the generated path may be infeasible to follow.

I was wondering if it is still the case if we consider the circumscribed circle of the robot's footprint. In this case, is it not even more conservative?

Thanks.

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
2

answered 2014-06-05 06:10:42 -0500

dornhege gravatar image

If you pass in the circumscribed circle as the inner radius it will be conservative, i.e. plans should be feasible. On the other hand you might loose plans that would work, i.e. it's incomplete.

All this relates to global planners such as NavFn. There are global planners that plan actual trajectories in the configurations space and thus are correct (but usually slower).

edit flag offensive delete link more

Comments

Thanks. 1- Does NavFn consider the radius of the inscribed circle of the robot's footprint? 2- Could you name Global Planners in ROS that plan actual trajectories in the configuration space?

ROSCMBOT gravatar imageROSCMBOT ( 2014-06-05 07:38:40 -0500 )edit

1. yes, 2. One example that can do that: http://wiki.ros.org/sbpl

dornhege gravatar imagedornhege ( 2014-06-05 07:46:55 -0500 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2014-06-04 17:26:32 -0500

Seen: 411 times

Last updated: Jun 05 '14