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Mini-Turty robot get stuck on corner when navigating

asked 2019-02-12 09:18:07 -0500

tfurgerson gravatar image

updated 2019-02-12 10:41:31 -0500

I created a map using a Rhoeby Dynamics Mini-Turty II robot and am using that to do navigation. It works most of the time, but sometimes it gets "stuck" on corners. As far as I can determine, it seems to create a global path that is too close to the obstacle (eg. corner of a wall). Then when it navigates along the path, it appears to just barely enter the "lethal" area and then gives up (goes into recovery behaviors). Is there a way to have the global path take a wider route around obstacles?

The robot is using Ubuntu 16.04 on Raspberry Pi 3, Kinetic, Move Base, DWA planner and AMCL.

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I am having the same problem

vcavinat gravatar image vcavinat  ( 2019-10-10 04:18:43 -0500 )edit

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answered 2021-10-06 01:39:27 -0500

To make the robot move far from obstacles decrease the cost-scaling factor it will make the curve less steep in terms of cost. Robot will try not to go too near the obstacles.

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Asked: 2019-02-12 09:18:07 -0500

Seen: 247 times

Last updated: Feb 12 '19