teb_local_planner keeps selecting impossible trajectories for a carlike robot
I am testing teb_local_planner for a carlike vehicle. I am trying to make the robot park backward, for which I would expect the planner to turn in 2-3 times (as a human driver would). However the local planner keeps generating and selecting trajectories that are just impossible for the car to follow (the min_turning_radius is set to 10 meters)
For example here, the selected red path requires the vehicle to make a sharp U-turn, that should not be possible with my min_turning_radius. As the vehicle approaches and fails to follow the local path, the local planner keeps generating more and more complex and impossible paths.
How come the planner can generate such impossible plan?
That said, it is not always the case. Sometimes, when I am lucky, the planner manages to generate a very nice 2-way turn curve (like in the picture below).
What parameters could I adjust to make the planner consistently generate (and select) paths like this instead?
Thanks
Orientation maybe? Its hard to see, but whats the goal orientation? Also your painted arrows seem to suggest that the robot should reverse into position. Would be important to see your config file for the planner. Do those "strange" paths pass the feasability check or do they get errored out?
Yes the goal and start points are facing each other (see https://imgur.com/a/M0tvaqi). So the vehicle has to park in reverse (or find a way to turn around at some point). For some reason the planner always prefer to reach the goal point first and then to try to turn around. As you can see with the walls near by the maneuver is not very wise from that point. All the impracticable paths pass the feasibility check and I never get any error.