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which is the best local planner for autonomous mobile robot to work at speed of 1 m/s ? [closed]

asked 2020-09-30 06:35:28 -0500

PiyushThapar gravatar image

Hi, I am working with ubuntu 16.04, ros-kinetic, and was looking for a good planner that can help me navigate my diff-drive based mobile robot at speed of 1 m/sec or more also I am working on both move_base as well as locomove_base/locomotor. I have already tested dwa planner and its not working for me, I was only able to plan at maximum speed of 0.6 m/sec.

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Closed for the following reason the question is answered, right answer was accepted by PiyushThapar
close date 2020-10-14 02:44:36.394417

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answered 2020-10-13 14:22:32 -0500

tropic gravatar image

You should try out teb local plannerhttp://wiki.ros.org/teb_local_planner. It has worked out quite well for me for >1m/s diff drive mobile robots, and to a large extent also for omni-directional (holonomic) mobile robots https://youtu.be/VfQWa06hQlM.

You can install it for kinetic by running:

$ sudo apt install ros-kinetic-teb-local-planner

And set your local planner in your move_base node:

<param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" />

There are many parameters to tune, so check out the wiki for the parameters, guides, and tutorials. I can highly recommend to use rqt dynamic reconfigure to tune the settings.

I have not tried it with locomove_base, but would be interesting to test out.

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Thanks but dwb planner worked for me. Actually, the problem was with my gazebo plugin, it wasn't able to reach 1m/sec but cmd_vel was being published 1 m/sec so I increased the torque and after that, the planner is planning the path correctly.

PiyushThapar gravatar image PiyushThapar  ( 2020-10-14 02:44:00 -0500 )edit

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Asked: 2020-09-30 06:35:28 -0500

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Last updated: Oct 13 '20