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How to solve this trajector problem? Two paths are two close or intersect [closed]

asked 2019-09-05 07:34:45 -0600

rjosodtssp gravatar image

I know this is weird, but my robot need to walk to the end of a narrow corridor then turn back, but when robot walk, I see path in Rviz are too close


or they intersect like this in a corner


robot is on path A, when it moves, it will be on path B, then it's stuck or turn around again and again.

How can I avoid these 2 cases, especially the first one. Can I delay path B's show ?

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Closed for the following reason duplicate question by rjosodtssp
close date 2020-01-12 04:15:04.978414

1 Answer

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answered 2020-01-10 03:12:58 -0600

Namal Senarathne gravatar image

So your problem is that the local trajectory planner/controller gets confused about which portion of the path it should follow when the path segments are too close to each other and when they intersect.

I think the easier solution is to first generate a path in one direction (say path A) and execute this navigation. And generate and execute the next path (path B) only after path A has been completed.

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thanks, I actually already solved this problem

rjosodtssp gravatar image rjosodtssp  ( 2020-01-12 04:14:56 -0600 )edit

Great. It would be nice if you can share your solution.

Namal Senarathne gravatar image Namal Senarathne  ( 2020-01-13 02:52:02 -0600 )edit

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Asked: 2019-09-05 07:34:45 -0600

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Last updated: Jan 10 '20