how to make local_planner preffer to go above or below obstacle rather than around it?

Question

how to make local_planner preffer to go above or below obstacle rather than around it?

DoneMan opened this issue 2 years ago · comments

HI all.

i've been using local_planner with a lot of success, it is truly some amazing piece of code. i wanted to ask: is it possible to configure somehow to tell the local_planner to prefer going above or below obstacles rather then around them?
if i put a wall of obstacles in front of the drone, it will prefer to go around them even if the wall is 400 meters wide, if it would just go above or below it will be much better off.

thanks in advanced

DoneMan · Answer 1 · Wed Mar 23 2022 20:24:59 GMT+0800 (China Standard Time)

@dagar @dayjaby @bkueng

Jeff H - openSAR.net · Answer 2 · Thu Jan 05 2023 04:31:59 GMT+0800 (China Standard Time)

Did anyone here get this figured out by chance? If so- I'd love to know how you did it. =) Thank you!

a · Answer 3 · Wed Oct 11 2023 23:22:40 GMT+0800 (China Standard Time)

reduce the pitch cost param and increase yaw cost