Comments (4)
Planning starts from a point on the current trajectory is to guarantee command continuity, therefore improving smoothness.
The UAV is guaranteed to not get away from the trajectory in our trajectory-planning-following framework. Therefore some external, forced stop is not considered in the current version. However, the FSM(finite state machine) has the potential to tackle such situations. You can just change the planner state to GEN_NEW_TRAJ when significant trajectory tracking deviation is detected. In this state, the planner plans a trajectory from the current odometry readings.
from ego-planner-swarm.
Hi, thanks for the response, but detecting a trajectory tracking deviation is difficult, that's why I want to try to combine the odometry in the planner. for a single UAV, I found following places where modification could be made
1, 2 along with start_vel_ and start_accel_
please correct me if there are additional places or If I pointed incorrect places.
also In your opinion, what are your thoughts what could be the possible downsides of adding odometry?
thanks @bigsuperZZZX
from ego-planner-swarm.
Modifying this is strongly not recommended since harming the continuity will lead to severe results.
In fact, detecting a tracking error is easy, you only need to compare the position in odometry topic with the command topic and set a difference threshold.
from ego-planner-swarm.
Modifying this is strongly not recommended since harming the continuity will lead to severe results.
In fact, detecting a tracking error is easy, you only need to compare the position in odometry topic with the command topic and set a difference threshold.
Okay, I'll try that. thanks for all the help
from ego-planner-swarm.
Related Issues (20)
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from ego-planner-swarm.