Re: [Playerstage-users] ND Driver

[Joseph B. <jlb@Cs.Nott.AC.UK>]

Hi,

I also have this issue. As I am loath to change the ND algorithm itself. 
I override the commands to the output position2d interface to when I 
detect "bad" situations such as oscillations.

It does not look pretty by any means but I simply give the robot a nudge 
in the right direction until the ND algorithm starts to behave 
"properly" again.

Joe

AASS wrote:

> ----------------------------------------------------------------------
> 
> Message: 1
> Date: Mon, 10 Dec 2007 11:58:13 -0800 (PST)
> From: AASS <jak...@gm...>
> Subject: [Playerstage-users]  ND Driver
> To: pla...@li...
> Message-ID: <142...@ta...>
> Content-Type: text/plain; charset=us-ascii
> 
> 
> Hello,
> 
> I am trying to use the ND driver for local obstacle avoidance. The problem I
> am running into is the fact that when the robot is in a corner, it seems to
> stay there as it turns one way, then the other, then the previous, and then
> the other, etc, etc. Logic would state that it does so because there is more
> open space on the other end and thus the rotation keeps on changing. My
> question is thus as follows. Has anyone overcome this problem and made it
> turn only one way instead of looking for most open space? If so, your help
> would be greatly appreciated. The robot knows where it's going (destination
> cell and angle)
> 
> Thanks,
> 

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