Collision checker
padhupradheep opened this issue · 3 comments
check collision, stop the robot, reduce the lookahead distance and restart the navigation.
Change the lookahead distance after sometime (old configuration).
Collision should be checked with the entire footprint of the robot
Controller stops the robot, when the footprint collides or the local plan detects a collision and resumes navigation, if the obstacle clears for the case of footprint collision and for the local plan, the controller waits, generates other trajectories to see if it can get out the predicament.
It would be nice to have a spring behavior, if the robot could spring back from the obstacles in case if it see a possible collision and tries to reach the goal without collision. It will be well and useful for dynamic collision avoidance.
initial idea done! Robot stops, when local plan is in the collision or the footprint is in collision. Both the situation occurs, during the sudden occurrence of unknown obstacles.
The next step would be to have the robot go around a sudden occurrence of unknown obstacles.. That will be dealt in #7 ..