could someone give some advice on improving the navigation performance

asked 2017-03-29 06:29:25 -0500

zeal gravatar image

I made an arduino car with a rplidar, unlike an diff car ,it's a ackman car,so i choose the teb_local_planner as the local_planner,here is the video: there are some questions: 1. why the costmap shake when the car turns 2. sometimes teb make wrong local plan 3. now i use only half of the max speed, when the speed up ,it may collision

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  1. the costmap "shakes" probably because you have a bad odometry/localization
Procópio gravatar image Procópio  ( 2017-04-07 02:30:54 -0500 )edit

Thank you for your comment,I do have a bad odometry. I made it by an encoder and an imu , i'm going to use the ekf to fuse the data.

zeal gravatar image zeal  ( 2017-04-07 04:01:45 -0500 )edit