DWB Local planner not able to control the robot correctly

asked 2022-08-03 08:27:53 -0600

Ammar Albakri gravatar image

I am using SPBLLattice planner as a global planner, and DWB as local planner. I tried tuning the local planner parameters as much as I can but I still cant figure out why it cant steer the robot right. At first it can follow the global plan but then as it gets closer to the goal it starts oscillating and steering right and left (where it should steer forward) example video in this link.

a copy of my local planner configuration is here

I need to operate the robot at 1.2 m/s speed at max, I tried lower speeds but it didn't help much with problem.

Any suggestion is appreciated.

edit retag flag offensive close merge delete