if (cfg_->optim.weight_shortest_path==0) return; // if weight equals zero skip adding edges! Eigen::Matrix<double,1,1> information; information.fill(cfg_->optim.weight_shortest_path); for (int i=0; i < teb_.sizePoses()-1; ++i) { EdgeShortestPath* shortest_path_edge = new Edge...
weight_shortest_path:0.0 weight_kinematics_forward_drive倒车惩罚设为0,倒车速度比差速快多了,weight_obstacle障碍物对车的影响,调大点可以提前转向,避免卡死,weight_kinematics_turning_radius,少用最小转弯半径,避免差速过慢
legacy_obstacle_association) AddEdgesObstaclesLegacy(weight_multiplier); else AddEdgesObstacles(weight_multiplier); if (cfg_->obstacles.include_dynamic_obstacles) AddEdgesDynamicObstacles(); AddEdgesViaPoints(); AddEdgesVelocity(); AddEdgesAcceleration(); AddEdgesTimeOptimal(); AddEdgesShortestPath(); ...
AddEdgesShortestPath();//添加最短路径边。 然后根据外部参数 min_turning_radius和weight_kinematics_turning_radius判断机器人的模型,若这两个参数任意一个为0,则认为当前机器人为差分驱动的机器人,即最小转弯半径为0。 此时调用AddEdgesKinematicsDi...
weight_optimaltime:1#must be > 0 weight_shortest_path:0 weight_obstacle:100 weight_inflation:0.2 weight_dynamic_obstacle:10#not in use yet weight_dynamic_obstacle_inflation:0.2 weight_viapoint:1 weight_adapt_factor:2 #Homotopy Class Planner ...
TEB 1 弹性带 1.1 原理 目标：机器人需要从起点位姿移动到终点位姿 那么就直接连接起点位姿和终点位姿，并在中间均匀插入中间位姿状态 对上面的各个中间位姿施加约束，X1到X2的运动学约束，X1到X2的速度约束，X1到X2到X3的加速度约束，X1，X2，X3的障碍物约束等等。最后经过求解优化问题，能够得到中间位姿状态...
AddEdgesShortestPath(); 1. 2. 目的是优化轨迹长度 最后还有一个运动学约束: //添加运动学约束边 if (cfg_->robot.min_turning_radius == 0 || cfg_->optim.weight_kinematics_turning_radius == 0) AddEdgesKinematicsDiffDrive(); // we have a differential drive robot ...
(weight_multiplier); else AddEdgesObstacles(weight_multiplier); if (cfg_-obstacles.include_dynamic_obstacles) AddEdgesDynamicObstacles(); AddEdgesViaPoints(); AddEdgesVelocity(); AddEdgesAcceleration(); AddEdgesTimeOptimal(); AddEdgesShortestPath(); if (cfg_-robot.min_turning_radius 0 || cfg_...
这样节省硬件计算资源 falseuse_grid_path:false#false # 如果设置为true,则会规划一条沿着网格边界的路径,偏向于直线穿越网格,否则将使用梯度下降算法,路径更为光滑点outline_map:falseold_navfn_behavior:false# 若在某些情况下,想让global_planner完全复...
0.25 # yaw_goal_tolerance: 0.25 # stateful: True # general_goal_checker: # stateful: True # plugin: "nav2_controller::SimpleGoalChecker" # xy_goal_tolerance: 0.25 # yaw_goal_tolerance: 0.25 FollowPath: plugin: "teb_local_planner::TebLocalPlannerROS" teb_autosize: 1.0 dt_ref: 0.3 dt...