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DWB_local_planner - Distance between the robot and the obstacle

asked 2019-01-24 03:55:10 -0500

Mobile_robot gravatar image

updated 2019-01-25 02:46:33 -0500

Dear all,

I use the DWB_local_planner and the robot gets very close to the obstacle while avoiding it.

I'm interested to configure the DWB_local_planner in order that the robot ALWAYS keep a certain distance (for instance 50 cm) to any obstacles.

In the TEB_local_planner there is a parameter called min_obstacle_dist for this issue. This distance is independent from the local_costmap inflation_radius.

I was wondering if you know how to configure the DWB_local_planner that the robot keeps a specific distance from the obstacle. In the DWB_local_planner parameter, as far as I understood, a specific parameter has not been dedicated for this issue.

Thanks,

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What do you mean an override? A change via DWB that doesn't affect the costmap?

David Lu gravatar imageDavid Lu ( 2019-01-24 10:49:37 -0500 )edit

I meant that I prefer to have access to the distance between the robot and the obstacle independently from the costmap. For example if the inflation radius is equal to 0.1m I can configure it to have a distance equal to 0.3m. Do you think it is possible?

Mobile_robot gravatar imageMobile_robot ( 2019-01-24 11:00:08 -0500 )edit

I'm still not certain what you mean. Are you asking if you can just increase the inflation_radius parameter?

David Lu gravatar imageDavid Lu ( 2019-01-24 14:03:57 -0500 )edit

Thanks for your reply David. I updated my question and I hope now it is clear for you.

Mobile_robot gravatar imageMobile_robot ( 2019-01-25 02:47:12 -0500 )edit

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answered 2019-01-25 08:40:11 -0500

David Lu gravatar image

So if you want the robot to NEVER go within X meters of an obstacle, I would change the robot's footprint to have an inscribed radius equal to X. This will make some feasible plans not feasible anymore.

If you want the robot to strongly prefer not going within X meters, you can increase the scale parameter on the obstacle critic in DWB.

If you want to control the logic even further, I would create a custom DWB critic that extends the MapGridCritic and use it to calculate the distance to the obstacles, and evaluate trajectories based on their distance to the obstacle.

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Thank you David!

Mobile_robot gravatar imageMobile_robot ( 2019-01-25 08:45:11 -0500 )edit

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Asked: 2019-01-24 03:55:10 -0500

Seen: 95 times

Last updated: Jan 25