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Navfn strange Behaviour

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

fmarques gravatar image

Hi,

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

Test2

In this case the navfn cannot plan

Test1

Anybody has an idea why this is happening

Thanks

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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

Seen: 150 times

Last updated: Mar 13 '12