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why dwa don't considering heading diff as a score anymore?

asked 2018-04-08 22:34:36 -0600

xiaoyuanzh gravatar image

Hi everyone, I am using dwa for a holomic robot. Since heading towards the global plan is important in my work. In the old trajectory planner, the total score is 0.3*heading diff+goal+target+occ. But in the new dwa planner, it uses alignment cost and goal front instead. Why the new planner uses these 2 factors? And my robot fails to head with the global plan. It looks really ugly in real world! Thanks for your help!

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Please provide links and version numbers for the packages you're referring to.

ahendrix gravatar image ahendrix  ( 2018-04-09 09:58:52 -0600 )edit

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answered 2018-04-09 11:26:47 -0600

xiaoyuanzh gravatar image

It uses alignment function instead. But it can't calculate as well as I wish. May I be able to rewrite a costfunction class like heading diff and add it to critic vector?

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Asked: 2018-04-08 22:34:36 -0600

Seen: 256 times

Last updated: Apr 09 '18