How do decrease slow down near obstacles in TEB local planner

asked 2020-07-26 13:05:33 -0600

Flontis gravatar image

updated 2022-01-22 16:10:41 -0600

Evgeny gravatar image

I'm using the teb package for local path planning and have a local costmap for obstacles. My problem is, that my robot slows down veeeeerrrryyyy much when he gets close to obstacles, even if he is not penetrating the minimum distance. Is there a way to increase the velocity next to obstacles/ decrease the slow down?

Ah, I forgot: I'm using ros-melodic

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Hi. The best I have found is to lower dt_refto allow it to plan better when close to obstacles e.g. moving through a doorway. Of course it becomes more computational heavy and maybe it could help out.

tropic gravatar image tropic  ( 2020-10-13 15:01:34 -0600 )edit