Robot keeps going Off-Map

asked 2020-11-19 10:48:45 -0500

arjunchatterg gravatar image

updated 2020-11-19 10:58:51 -0500

  1. I am simulating a skid-steer AGV and the robot keeps on diverting absurdly from the global path. However, for smaller velocity (< 0.5 m/s), it follows the global path.

  2. The bot doesn't rotate instantly or with greater speed towards goal-point. Even if I increase max_vel_theta it takes around 8 seconds to rotate the bot to the goal-point, however, it should take not more than 3 seconds to orient to the goal-point.

I am using global_planner and DWA local planner. Here are the tuned parameters so far:

dwa_local_param.yaml

DWAPlannerROS:
  max_vel_trans: 2.0
  min_vel_trans: 0.02

  max_vel_x: 3.0
  min_vel_x: 0.0

  # max_rot_vel: 5.0
  # min_rot_vel: 0.5

  acc_lim_x: 3.0
  acc_lim_theta: 3.0
  acc_lim_trans: 3.0

  max_vel_theta: 3.0
  min_vel_theta: -3.0

  holonomic_robot: false
  acc_lim_y: 0.0
  min_vel_y: 0.0
  max_vel_y: 0.0
  vy_samples: 0

  yaw_goal_tolerance: 0.1
  xy_goal_tolerance: 0.3
  # latch_xy_goal_tolerance: true

  trans_stopped_vel: 0.1
  theta_stopped_vel: 0.1

  forward_point_distance: 0.5

  sim_time: 1.5
  vx_samples: 30
  vy_samples: 0
  vth_samples: 40

  path_distance_bias: 64 # 32
  goal_distance_bias: 30
  occdist_scale: 0.02
  stop_time_buffer: 0.5

  oscillation_reset_dist: 0.05
  prune_plan: true

base_local_param.yaml

TrajectoryPlannerROS:
  max_vel_x: 2.0
  min_vel_x: 0.1 

  max_vel_trans: 2.0
  min_vel_trans: 0.01

  max_vel_theta: 3.0
  min_vel_theta: -3.0
  min_in_place_vel_theta: 1.5 # 0.6

  acc_lim_theta: 3.2
  acc_lim_x: 3.0 
  acc_lim_y: 3.0

  holonomic_robot: false

# Goal Tolerance Parameters
  yaw_goal_tolerance: 0.1 # pi
  xy_goal_tolerance: 0.3 # 0.15

# Forward Simulation Parameters
  sim_time: 1.5
  vx_samples: 20 # 6
  vtheta_samples: 20

# Trajectory Scoring Parameters
  meter_scoring: true
  pdist_scale: 1.0 #0.6
  gdist_scale: 1.0 #0.8
  occdist_scale: 0.01
  heading_lookahead: 0.325
  dwa: true

# Oscillation Prevention Parameters
  oscillation_reset_dist: 0.05

# Differential-drive robot configuration
  max_vel_y: 0.0
  min_vel_y: 0.0
  acc_lim_y: 0.0
  vy_samples: 1

global_planner.yaml

GlobalPlanner:
  allow_unknown: false
  default_tolerance: 0.5

  visualize_potential: true

  use_dijkstra: true
  use_quadratic: true
  use_grid_path: false

  old_navfn_behavior: false

  neutral_cost: 66
  cost_factor: 0.55
  lethal_cost: 253

  last_plan_if_blocked: true

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