DluxGlobalPlanner: path too close to obstacle
Closed this issue · 2 comments
I'm using the DluxGlobalPlanner
with AStar
and GradientPath
to calculate global paths. The problem is that the resulting path is too close to obstacles:
I was playing around with neutral_cost
and scale
but the few values I tried didn't make a huge difference on the path. What parameters should be looked at to get a path closer to the one I want?
Used parameters:
DluxGlobalPlanner:
neutral_cost: 50
scale: 3.0
unknown_interpretation: lethal
path_caching: false
improvement_threshold: -1.0
publish_potential: false
print_statistics: false
potential_calculator: dlux_plugins::AStar
traceback: dlux_plugins::GradientPath
# AStar
manhattan_heuristic: false
use_kernel: true
minimum_requeue_change: 1.0
# GradientPath
step_size: 0.5
lethal_cost: 250.0
iteration_factor: 4.0
grid_step_near_high: false
Ok, got it the way I wanted by increasing the value for cost_scaling_factor
in the inflation_layer
of my global_costmap
.
Old values:
inflation_layer:
cost_scaling_factor: 2.20
inflation_radius: 1.75
New values:
inflation_layer:
cost_scaling_factor: 10.0
inflation_radius: 2.0
This makes the DluxGlobalPlanner calculate a path which is far enough away from obstacles.
Is there any solution in source code? Because I already tried all params to achieve yours but I failed again and again . I tried GIMP to draw map for dangereous corners but when someone stands on the robot and robot try to create and follow new path it gets stack in location that I draw in GIMP.