issue with path planning about ego-planner-swarm

[bigsuperZZZX]

Could you paste a picture here about what your obstacles look like?

[shubham-shahh]

Hi @bigsuperZZZX , here's a picture of the obstacle and the occupancy grid

[bigsuperZZZX]

That's because the obstacle sensor only senses a limited region.
From the mapped obstacle in the right figure, the produced trajectory is reasonable as it chooses the shortest path to fly through because the drone takes the unknown part as free.

[shubham-shahh]

That's because the obstacle sensor only senses a limited region. From the mapped obstacle in the right figure, the produced trajectory is reasonable as it chooses the shortest path to fly through because the drone takes the unknown part as free.

@bigsuperZZZX , That's correct, but, it will keep moving upwards as it maps the obstacle, but it is not good for such kind of obstacles, what are the possible solutions, to tackle such obstacles.
I have mounted a lidar with 90 degree vertical FOV for obstacle detection

thanks

[bigsuperZZZX]

It's a complicated problem to tackle obstacles outside the sensing region.
There are different candidate strategies, such as predicting obstacle shape using neural networks (paper), adjusting trajectory to see more known places (paper), or just using wide range sensors like fisheye cameras (paper), etc.

[shubham-shahh]

It's a complicated problem to tackle obstacles outside the sensing region. There are different candidate strategies, such as predicting obstacle shape using neural networks (paper), adjusting trajectory to see more known places (paper), or just using wide range sensors like fisheye cameras (paper), etc.

Hi, Thanks for the response. I'll look into them