AUTO-607 use path distance instead of euclidean distance for pruning path #9
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doisyg
requested review from
scheunemann,
a team and
jayyoung
and removed request for
a team
added 8 commits
March 6, 2023 10:47
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Sister PR merged in nav2 ros-navigation#3443 |
AUTO-655 Rotation progress checker
AUTO-645 Fix Path Angle Critics for bi-directionality
scheunemann
approved these changes
Mar 10, 2023
AUTO-610 [MPPI] enforce global path inversions
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This PR fixes the one of the issue with looping paths in MPPI, for searching the last point of the part of the global path to consider in the controller, we search up to the pruning distance along the path, instead of search up the euclidean distance. This avoid transforming path oscillations like the following:
https://user-images.githubusercontent.com/15727892/221850250-658af60f-8c94-4e67-a2ee-ec145b5d8bdf.mp4
(global path in green, transformed path in purple arrows)