Very strange turn behavior with TEB planner

asked 2018-12-04 03:54:47 -0500

TomJerry gravatar image

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 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 ;-)

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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

Andong Chen gravatar imageAndong Chen ( 2019-05-10 01:16:52 -0500 )edit

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!

Rosbq gravatar imageRosbq ( 2019-05-28 10:02:10 -0500 )edit

Tentative solution: try to increase weight_optimaltime to 10 or more

jorge gravatar imagejorge ( 2019-06-03 12:28:27 -0500 )edit