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Extension: Global planner #77

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jens-hj opened this issue Apr 4, 2024 · 0 comments
Open

Extension: Global planner #77

jens-hj opened this issue Apr 4, 2024 · 0 comments
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enhancement New feature or request extension Something beyon a mere re-implementation of gbpplanner gbpplanner-rs Bevy Simulation planned feature Features that were inteded from the beginning

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@jens-hj
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jens-hj commented Apr 4, 2024

Motivation

The GBP algorithm on its own has so much trouble with many obstacles, especially longer, thinner walls.

Issues

  • Horizon variable might sometimes phase through obstacles
  • Two adjacent variables can end up on either side of a wall, thus predicting the robot to drive through the wall
  • A waypoint is reached when the horizon state gets close, which means the robot never gets to the waypoint, and incentivises simply predicting a path that would theoretically get there, without the robot actually having to go anywhere

Idea

Incorporate global path as pose factors for each variable in the planning horizon

@jens-hj jens-hj added enhancement New feature or request gbpplanner-rs Bevy Simulation planned feature Features that were inteded from the beginning extension Something beyon a mere re-implementation of gbpplanner labels Apr 4, 2024
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Labels
enhancement New feature or request extension Something beyon a mere re-implementation of gbpplanner gbpplanner-rs Bevy Simulation planned feature Features that were inteded from the beginning
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