## [Playerstage-users] Vfh conversion problems

 [Playerstage-users] Vfh conversion problems From: - 2003-12-11 01:39:04 Attachments: conversion.cc ```Hi again, Attached is the code we are using to convert goals to positions that are meaningful to vfh. This conversion sort of works, for a few meters.=20 However, our current problem with this conversion is that we are experiencing gradually deteriorating turn rates, which cause the robot to arc more and more slowly to future waypoints, to the point that the robot ends up circling its desired waypoint. For example, we can go back and forth between 3 colinear waypoints (that are about 2.5m apart). The firs= t time, the robot goes straight to the waypoints. The next time, the robot arcs slowly to the successive waypoints, with an increased arc size after each loop. After about 3 loops, the robot is making a circular pattern around the middle waypoint, and never makes the waypoint. (With our experiments, it seems to always arc right.) Any ideas as to what is happening? Thanks much, --Lynne ```

 [Playerstage-users] Vfh conversion problems From: - 2003-12-11 01:39:04 Attachments: conversion.cc ```Hi again, Attached is the code we are using to convert goals to positions that are meaningful to vfh. This conversion sort of works, for a few meters.=20 However, our current problem with this conversion is that we are experiencing gradually deteriorating turn rates, which cause the robot to arc more and more slowly to future waypoints, to the point that the robot ends up circling its desired waypoint. For example, we can go back and forth between 3 colinear waypoints (that are about 2.5m apart). The firs= t time, the robot goes straight to the waypoints. The next time, the robot arcs slowly to the successive waypoints, with an increased arc size after each loop. After about 3 loops, the robot is making a circular pattern around the middle waypoint, and never makes the waypoint. (With our experiments, it seems to always arc right.) Any ideas as to what is happening? Thanks much, --Lynne ```