object detection and collision avoidance

asked 2021-11-03 13:09:31 -0600

Delbina gravatar image

updated 2021-11-10 09:11:35 -0600

hi everyone,

I faced an issue about when the vehicle wants to do object detection and collision avoidance. I do not know why my vehicle react so late, i mean before the robot get too close to the object, the object is inside the local costmap, but it doesnot change it path, and after that it wants to hit or sometime passing so close to the object, it starts detouring.

I donot know why so late respond to object, how can i resolve this issue? thanks

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Comments

Hi @Masoum, to help more details are required, can you please share your planning settings and what have you tried so far. Is it late reaction due to hardware limitations or is it due to reaction settings?

osilva gravatar image osilva  ( 2021-11-04 16:14:13 -0600 )edit

Dear @osilva, would you please mention what are the collision parameters in local, global and move_base?? I have also attached my files.

Delbina gravatar image Delbina  ( 2021-11-10 06:29:59 -0600 )edit

Thank you @Masoum. I suggest to follow this document, as there is not a single factor that is obvious from your parameters: https://www.researchgate.net/publicat...

I'd start by playing with sim_time from 1.2 - 3.0 and see the cause and effect. Then you can move to the other parameters as recommended in the guide.

osilva gravatar image osilva  ( 2021-11-10 08:52:23 -0600 )edit
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