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Navfn strange Behaviour

asked 2012-03-13 06:15:12 -0500

fmarques gravatar image


I'm tunning the navigation stack for my robot, but nafvn is displaying a strange behaviour, sometimes it cannot plan when in narrow places.

Here are some screenshoots


In this case the navfn cannot plan


Anybody has an idea why this is happening


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I am seeing the same behavior, but I can't post a screenshot. In tight areas, the plan starts right after the tight area instead of starting from the robot. Edit: Increasing cost_scaling_factor from 0.1 to 10 fixed this problem for me.

kmhallen gravatar image kmhallen  ( 2013-05-05 12:47:02 -0500 )edit

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answered 2012-03-13 07:13:52 -0500

dornhege gravatar image

I think navfn is quite simple in that it only plans for circular robots. Your's seems a bit lengthy and rectangular. This would lead to a circumference that just doesn't fit through the passage.

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There have also been some observed bugs in navfn where it's sensitive to initial conditions.

tfoote gravatar image tfoote  ( 2012-03-29 21:26:09 -0500 )edit

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Asked: 2012-03-13 06:15:12 -0500

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Last updated: Mar 13 '12