Are exploration planners aware of robot dynamics?

asked 2020-07-30 14:16:25 -0500

ildaniel gravatar image

I'm using the explore_lite planner which sends movement commands to move_base. I'm trying to understand whether it is a model based planner... I want to introduce some error into the sensing/planning pipeline for a study. I've been looking through the code of the github, and I don't think the exploration algorithm is aware is aware of the dynamics, but then where is that taken into account? Because at some point shouldn't the the movement commands be based on the physical robot?

I'm using the explorer with Clearpath Robotic's Husky:

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