From: syah <sy...@us...> - 2012-08-17 18:48:26
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Hi all, My specs: player 2.1.2 & stage 2.1.1 I am using the vfh driver for a robot's local path planning. 1. How can I set the minimum distance so that the robot will avoid before colliding with other robot or obstacles ? I want to make the robot *not* to be too near (below a threshold value that I give) to other robots and obstacles. URL: http://playerstage.sourceforge.net/doc/Player-2.1.0/player/group__driver__vfh.html "The primary parameters to tweak to get reliable performance are safety_dist and free_space_cutoff. In general, safety_dist determines how close the robot will come to an obstacle while turning (around a corner for instance) and free_space_cutoff determines how close a robot will get to an obstacle in the direction of motion before turning to avoid." >From the documentations, as quoted above, the configuration file options for the vfh driver that I should set is: free_space_cutoff (which is actually: free_space_cutoff_0ms and free_space_cutoff_1ms that have default unitless value of: 2000000.0). I have tried changing this option (minimizing the value), but it seems like not reflecting the minimum distance that I hoped. - i.e. I'm not sure whether it actually worked or not. I also changed the safety_dist option (which is actually: safety_dist_0ms and safety_dist_1ms that has default value of 0.1 m) to be a higher value, and it seems to be working but the movement seems a bit odd, I guess as its obeying the threshold given. Is this the correct/only way to do it in order to achieve what I want ? 2. I've noticed that the max_speed option can be given higher than 1 (m/sec). And it looks like that the options safety_dist_0ms (i.e. when stopped) and safety_dist_1ms (i.e. when travelling at 1 m/s) is still obeyed even though the robot's speed is more than 1 m/s. Is this true ? As it seems to be so.. Thank you for any help given, regards, -syah- |