Drone movement is too aggressive.

[romaster93]

hello .

I am implementing drone avoidance using ego planner v2 and ardupilot and mavros controller.

Everything is excellent! I admire your research.

However, when the obstacle disappears from the drone's field of view, it changes the yaw direction of the drone too abruptly. Also, it twists too much on narrow roads.

Can I make a smoother path if I fix anything?

Please refer to my video.

https://youtu.be/mMYVuqe9s_o

https://youtu.be/c3ECgOdWexE

[Swadine]

@romaster93 Did you find a fix to this? The drone sometimes thinks that there is an empty column through which it can plan, but by the time it realizes that there is an obstacle, it is unable to replan and crashes into the obstacle. I believe we can incorporate a better mapping but it won't make much difference, in such a case the drone needs to assess the fact that it is making a risky trajectory and it should execute that less aggresively.

[bigsuperZZZX]

Please refer to:
ZJU-FAST-Lab/EGO-Planner-v2#12