Nav2 controller tuning for vehicle with poor steering performance (slow response)
I'm trying to deploy Nav2 on a slow moving vehicle with some terrible steering response time. The steering actuator has about 100ms delay from command to actual movement and the dynamics are also pretty slow. About 6s from max left to max right steering angle.
What is a controller that can deal with this slow dynamics?
I have been using the TEB controller with some success but very often I see the controller just chasing the steering back and forth.
The parameters I tried to adjust to "tell" the controller that the steering is slow are:
- acc_lim_theta
- max_vel_theta
- weight_acc_lim_theta
None of them really made a significant improvement.
What I'm after with this question is probably not necessarily on the TEB controller specifically, but in general how to address a "robot" with very slow dynamics, especially within Nav2.
Thank you in advance.
