[Question, Enhancement] - limit centripetal acceleration during turns

[Thazz]

It would be nice to have an option to limit robot's velocity during turns, as currently robot doesn't decrease its vel_x value when turning. My question is where it would be better to apply these limits (e.g acc_lim_cent):

• Write my own Critic that scores trajectories based on centripetal acceleration.
• Modify computeNewVelocity() function in trajectory generator (as this is where x, y and theta acceleration limits are currently applied).

Edit:
Looking a little bit further, my guess is that it would be best to add acc_limit_cent to KinematicParameters class and use this limit in XYThetaIterator::iterateToValidVelocity().

[DLu]

Hey @Thazz,
I agree with what you're saying. There's basically two ways to do it.

• If you have a robot that you absolutely do not want to above a certain forward velocity while also turning, that would probably be best handled by a new TrajectoryGenerator plugin.
• You could also make it in its own critic that could either score or reject those velocities.

I'd probably go with the latter since it seems the most flexible, but either could work.

Does that help?

[Thazz]

Thanks @DLu

I've chosen the "new TrajectoryGenerator" approach and it does it's job well.

[Nurullahdmrly]

Hey @Thazz
Have you added a constraint parameter for the returns or have you come up with a solution for it(acc_lim_cent) ? I want to do the same and if you have solution can you share it with me?