ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | Q&A
Ask Your Question

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.

edit retag flag offensive close merge delete


I am having the same problem

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

1 Answer

Sort by ยป oldest newest most voted

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.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower


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

Seen: 563 times

Last updated: Feb 12 '19