how to tune dwa local planner for a 4wheel differential drive robot?

asked 2021-06-26 10:32:27 -0500

Masoum gravatar image

hi everyone, I have a 4wheel robot which has a differential drive movement. the foloowing is the parameters for dwa local planner:

DWAPlannerROS:

Robot Configuration Parameters

max_vel_x: 0.5 #The maximum x velocity for the robot in m/s.default:0.55 min_vel_x: 0.2 #default:0.0

max_vel_y: 0.0 min_vel_y: 0.0

# The velocity when robot is moving in a straight line max_trans_vel: 1.0 #The absolute value of the maximum translational velocity for the robot in m/s, default:0.55 min_trans_vel: 0.2 #default:0.1 trans_stopped_vel: 0.1

max_rot_vel: 2.0 #default:1.0 min_rot_vel: 0.4 #default:0.4 rot_stopped_vel: 0.8

acc_lim_x: 1.5 #The x acceleration limit of the robot in meters/sec^2 acc_lim_theta: 3.2 #The rotational acceleration limit of the robot in radians/sec^2, default:3.2 acc_lim_y: 0.0

Goal Tolerance Parametes

yaw_goal_tolerance: 0.3
xy_goal_tolerance: 0.35
latch_xy_goal_tolerance: false

Forward Simulation Parameters

sim_time: 1.0 #The amount of time to forward-simulate trajectories in seconds vx_samples: 20 vy_samples: 0 vtheta_samples: 40

Trajectory Scoring Parameters

path_distance_bias: 32.0 #The weighting for how much the controller should stay close to the path it was given goal_distance_bias: 24.0 #The weighting for how much the controller should attempt to reach its local goal; also controls speed occdist_scale: 0.2 #The weighting for how much the controller should attempt to avoid obstacles forward_point_distance: 0.0 stop_time_buffer: 0.2 scaling_speed: 0.25 max_scaling_factor: 0.2

Oscillation Prevention Parameters

oscillation_reset_dist: 0.05

Debugging

publish_traj_pc : true publish_cost_grid_pc: true global_frame_id: odom

now, i can see that when i launch move-base node, there is also value in y linear velocity as well! and also the angular velocity in z axis is fluctuating between positive and negative points. and the movement of the vehicle is not smooth. I mean

How can I tune move-bas parameters for a 4wheel differential drive robot?what is the problem?

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