#107 vfh/wavefront gets stuck in oscillation

player (137)

When using vfh+amcl+wavefront in Stage (at least
1.3.x), it can happen that the robot gets stuck in an
oscillation, rotating back and forth as it tries to
turn to face a waypoint that is roughly behind the
robot. Don't know where the problem is here, but a
good place to start would be the logic in wavefront
that tells the robot which way to turn in order to face
the next waypoint. Might need some hyteresis there.


  • Brian Gerkey

    Brian Gerkey - 2005-02-28
    • status: open --> closed-fixed
  • Brian Gerkey

    Brian Gerkey - 2005-02-28

    Logged In: YES

    The problem was in vfh, where it decides which direction to
    turn when it's at the goal. I've fixed this by making it
    stick with the direction that is selected first. Checked
    into CVS.


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