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Golf cart moves slowly and shakes violently while following planned trajectory

asked 2021-05-05 00:34:50 -0600

congphase gravatar image

updated 2021-05-05 05:36:45 -0600

After running the AVP demo with our own map in simulation, we've managed to integrate all parts to real vehicle - LVTong golf cart (similar to this). After receiving the planned trajectory, as it starts to move. However, it shakes violently, and moves really slowly (0.2m/s as read from /control_command): video.

We suspect that the problem is in the Autoware.Auto's MPC Controller implementation itself, or it's because the LIDAR is not well aligned on the rooftop of the golf cart, making the read signals unstable. However, we currently don't have a specific direction or clue to come to a potential solution.

Do you have any suggestions?

Thank you all.

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Hello @congphase , little bit off topic, but what tool/package did you use to build pcd map ? ndt_mapper from Autoware.Auto or something else ?

Aleksandr Savel'ev gravatar image Aleksandr Savel'ev  ( 2021-05-07 03:55:07 -0600 )edit

Hello @Aleksandr Savel'ev, I used Livox LOAM, as I recorded lidar data of my area with a Livox Horizon LIDAR.

congphase gravatar image congphase  ( 2021-05-08 05:38:06 -0600 )edit

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answered 2021-05-12 18:47:26 -0600

Josh Whitley gravatar image

This is likely due to the MPC controller. We have an issue tracking this problem here: https://gitlab.com/autowarefoundation.... However, this is likely something that can be solved by tuning the parameters for the MPC controller in the YAML file that is passed to it in your launch file. We have not had time recently to work on this as we have been focused on new feature development for the Cargo Delivery ODD. Please let us know in that issue (and, preferably, in this question as well) if you are able to resolve the oscillation problem and how.

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Hi @Josh Whitley, the problem of ours is that our lidar is not stabilized, which led the ray ground filter (which is very vulnerable to angles) to classify wrong between object and non-object. Therefore, there were ghost objects blocking the route that randomly appeared so the car ran and stopped randomly also. Another issue that we discovered while we were setting our lidar is that the static transform applied for lidar_frame to base_link won't work when we tune the angles with value in quaternion higher than 0.1.

DamianTran gravatar image DamianTran  ( 2021-05-17 23:10:54 -0600 )edit

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Asked: 2021-05-05 00:34:50 -0600

Seen: 122 times

Last updated: May 12 '21