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Very strange turn behavior with TEB planner

I use TEB as the local planner for the robot's navigation. The path of the original TEB planner is very reasonable, as Fig 1 shows.

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fig 1

But as it moves forward, the path becomes very strange. The path first knotted and then became complicated. image description

fig 2

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fig 3

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fig 4

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fig 5

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fig 6

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fig 7

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fig 8

Clearly the initial path is the best, why will it change?

I'd like to know:

  1. Causes of this problem.
  2. Possible ways to improve.

Can anyone give me some suggestion? Thanks in advance ;-)

Asked by ZengLei on 2018-12-04 04:54:47 UTC

Comments

I meet the problem too,I tried to solve it in the tutorial :"frequently asked questions "http://wiki.ros.org/action/fullsearch/teb_local_planner/Tutorials/Frequently%20Asked%20Questions?action=fullsearch&context=180&value=linkto%3A%22teb_local_planner%2FTutorials%2FFrequently+Asked+Questions%22 set global_plan_overwrite_orientation=false but it helpless maybe you could try

Asked by Andong Chen on 2019-05-10 01:16:52 UTC

Hi,

Were you able to solve the problem? I'm facing similar issues and I don't know what's wrong with my parameters.

Thank you!

Asked by Rosbq on 2019-05-28 10:02:10 UTC

Tentative solution: try to increase weight_optimaltime to 10 or more

Asked by jorge on 2019-06-03 12:28:27 UTC

hi, were you solve the problem? how to solve it? thankyou

Asked by czpyyds on 2021-11-20 08:38:02 UTC

Answers

Hi, Had similar issue, Solved by switching the global_plan_overwrite_orientation parameter to False. Extended answer about why this solution works is mentioned in http://wiki.ros.org/teb_local_planner/Tutorials/Frequently%20Asked%20Questions#Following_global_plan_backwards under the "Following global plan backwards" headline. Best Regards

Asked by robouser on 2022-05-19 02:27:14 UTC

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