Prior Map

[vivek-uka]

Hi,

I am testing your algorithm in an office-like environment. It looks like your approach gets stuck in local minima. Specifically, the high-level planner is unable to find a solution around a long wall. Is there a way to provide global map information?

Video: https://youtu.be/I7T1-zKq7zI

Thanks!

[siyuanwu99]

Hi Vivek,

Originally EGO-Planner is a local ESDF free planner that can avoid small obstacles. It is not a good solution to your problem, especially in office environments with long walls. In pratice, we give the planner some prior waypoints to navigate in such environments. To achieve this, you may consider passing some waypoints through this function:

ego-planner-swarm/src/planner/plan_manage/src/planner_manager.cpp

Line 377 in 30de3c9

bool EGOPlannerManager::planGlobalTrajWaypoints(const Eigen::Vector3d &start_pos, const Eigen::Vector3d &start_vel, const Eigen::Vector3d &start_acc,

and specify number of waypoints here:

ego-planner-swarm/src/planner/plan_manage/launch/advanced_param.xml

Line 71 in 30de3c9

<param name="fsm/waypoint_num" value="$(arg point_num)" type="int"/>

Best,