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Global Path close to obstacles

asked 2021-12-07 11:00:20 -0500

zuy
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Hello folks, I use the Global Planner to produce path for my robot. How ever, the path is more likely to stay close to walls or obstacles, which is kinda odd. Anyone has experiment on tuning Global Planner? Can you give me some advide? Here are my parameters:

GlobalPlanner:
    visualize_potential: false
    cost_factor: 0.55 
    neutral_cost: 66 
    lethal_cost: 253 
    publish_potential: True
    use_dijkstra: true
    allow_unknown: false

Thank you all!

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answered 2021-12-07 13:00:36 -0500

Mike Scheutzow
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Are you using an inflation layer in your global costmap? This is usually how people prevent the global planner from choosing a path that is too close to an obstacle.

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Yes, but I would prefer tuning the global planner than increasing the inflation radius of inflation layer. Do you have any suggestion? Thanks alot!

zuy ( 2021-12-07 17:20:53 -0500 )edit

I'm not aware of any way to "tune" this with Global Planner parameters. You could implement a different algorithm in c++, or you can customize the global costmap to create regions with different costs.

Mike Scheutzow ( 2021-12-08 06:28:03 -0500 )edit

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Asked: 2021-12-07 11:00:20 -0500

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Last updated: Dec 07 '21

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Global Path close to obstacles