Hi all,
I am working on a robot simulated in Gazebo. Our environment has many rather narrow aisles that are ~2.5x the diameter of the robot in width. Currently, when our robot needs to turn around in an aisle, it plans "sweeping turns," that is, where vx and vtheta are both non-zero. This typically ends up with the robot moving too close to an obstacle and transitioning to recovery behaviors. Is there a way to bias move_base toward pivot turns?
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