Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Plan/Control with Dynamic Obstacles #1597

Open
SteveMacenski opened this issue Mar 16, 2020 · 4 comments
Open

Plan/Control with Dynamic Obstacles #1597

SteveMacenski opened this issue Mar 16, 2020 · 4 comments
Labels

Comments

@SteveMacenski
Copy link
Member

SteveMacenski commented Mar 16, 2020

Right now, we work only with static data about the state of the world. We should be able to create a generic interface to handle detections to track them and have them included in the planning and control processes.

This could be done with explicit modeling (e.g. planner and controller step forward dt and we project the new time-variant pose of detections and uncertainty into C-space) or implicitly (e.g. we have some object we know is dynamic and we "smear" it in the costmap projecting its pose and uncertainty into the current costmap without being time-dependent)

e.g.

  • Dynamic avoidance by making the costmap virtually represent velocity vectors of obstacles for static planning
  • Dynamic avoidance by modeling dynamic obstacles and having a kinodynamic path planner (state lattice or RRT with t) search through costed space and vector space
@abylikhsanov
Copy link

Is this still in development? If so, is the idea to first implement a dynamic obstacle detection (for example as a separate plugin) and then use in any local planner?

@SteveMacenski
Copy link
Member Author

Its in development now.

Integrations for dynamic obstacle data into DWB would be an appreciated contribution if you're interested. Basically it would involve creating a dynamic obstacle critic plugin to take in some set of dynamic tracks and using them and the change in time of the trajectory to score the paths.

@abylikhsanov
Copy link

I am actively using TEB local planner and I would like to contribute for that instead if this is still interesting

@SteveMacenski
Copy link
Member Author

In what way?

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
Projects
None yet
Development

No branches or pull requests

2 participants