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 | 1 | initial version |
The local planner output is correct as it is the time-optimal solution for your parameter setting. Turning while moving forward is faster than rotating in place given your linear and angular velocity resp. acceleration limits.
However, you can tweak the behavior, as you said, by further penalizing backward motions according to this question and answer.
| | 2 | No.2 Revision |
The local planner output is correct as it is the time-optimal solution for your parameter setting. Turning while moving forward is faster than rotating in place given your linear and angular velocity resp. acceleration limits.
However, you can tweak the behavior, as you said, by further penalizing backward motions according to this question and answer.
You can also have a look at the path following mode in case this is your preferred objective.
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