Global planner with curvature limit
Hi all,
I'm looking for a global path planner (base_global_planner) with a feature of limiting the curvature (or turning radius) of the path. I found teb_local_planner which can configure the minimum turning radius, but it's designed as a local planner.
Does anyone knows a path planner compatible with curvature limitation? Or, is there a way to use teb_local_planner as a global planner, just for publishing the entire path to the goal?
My environment: Ubuntu 18.04, ROS Melodic
Hi @mit pls take a look at this previous question: #q234821
There is a nice explanation and a link to a tutorial
@osilva Thanks for the information, but I think that is not I want to do. Both the explanation and tutorial assume that we have a pre-generated global path, but I need a way to get a global path considering its maximum curvature. Actually I'm planning to use a self-made local planner rather than teb_local_planner, so a global planner with curvature limiting feature is my ideal.