MichaelFYang/far_planner

Failure case of far planner in simulation dataset

Opened this issue · 5 comments

qlibp commented

A failure case in campus dataset.

As can be seen in the photo(sorry for the low resolution) The goal_point is in green, which should be un-achievable.

But ideally, the behavior of far-planner should navigate to the rest of the un-explored places, trying to find a way out. After it can't find any way out, it could finally stop.

And as we could see in the visibility graph, there're at least three region to be explored, but far planner no longer inject waypoint.

IMG_1780

qlibp commented

Seems that the reason of such un-expected behavior is caused by local-planner. I don't know the reason why the local planner don't go to the waypoint and stop there.
I encounter such situations several times in the campus dataset.

zly7 commented

I also encounter the same problem in tunnel dataset.

MichaelFYang commented

Thanks for the question, could you check (visualize) the whole VGraph in Rviz and see if there is any connection to the goal? And we recently fixed a bug for graph construction, so may be good to try out with the latest code.

hcws commented

Why my VGraph like this :

Selection_132