Tuning Navigation

asked 2021-07-20 18:50:48 -0600

mars_rover
13 ●3 ●6 ●6

updated 2022-02-20 18:51:18 -0600

8729 ●137 ●239 ●256 https://github.com/lucasw

What parameter in the navigation package controls the arc or straightness of a path? Currently it creates an undesired curve or arc to reach a goal. Looking to make straight lined paths towards a goal.

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1

This could depend heavily on the local controller used as part of your navigation setup. Which controller / local planner are you using?

r0gi ( 2021-07-25 16:43:13 -0600 )edit

I am using dwa

mars_rover ( 2021-07-25 22:48:55 -0600 )edit

Sorry, @mars_rover, where did you choose between de dwa or others?

Ronro ( 2021-09-08 15:59:38 -0600 )edit

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answered 2021-09-07 18:22:01 -0600

miura

1908 ●1 ●171 ●24 https://twitter.com/miura

I think You can try changing the following parameters.

Adjust path_distance_bias, goal_distance_bias, and occdist_scale. In particular, it is recommended to increase the path_distance_bias.

Make acc_lim_th smaller. It will reduce the possibility of selecting a curve. Note that this will also reduce the selection of curves under normal conditions.

ref: http://wiki.ros.org/dwa_local_planner