Comments (10)
The planner is designed for 3D flight, and maybe converting to 2D will be a big project.
A relatively easier solution is to modify the inflation function in the mapping code.
You can choose a certain layer at a specific height and inflate that layer up and down with enough margin so that the trajectory will not go above the wall. It will make the new 3D map looks like this:
Then implement the planner as normal and ignore the z-component of the trajectory.
from ego-planner.
You can just inflate the gird map a great amount in z direction.
from ego-planner.
You can just inflate the gird map a great amount in z direction.
Hello, is the z-axis in the configuration file? I have modified the A* algorithm to two-dimensional search, but sometimes there is A star error problem, may I ask what is the reason for this problem?
from ego-planner.
Hello, I fixed the search range of A* in the plane, so it is a 2D path planning, but a star error often occurs. If the a* algorithm fails, the path becomes 3 dimensional. Would like to ask the most likely cause of failure.
from ego-planner.
I hope that this late response helps. Your error indicates that the openSet_ is empty before finding an A* solution.
from ego-planner.
I hope that this late response helps. Your error indicates that the openSet_ is empty before finding an A* solution.
Thank you very much for your reply. Do you mean that this error occurred because openset_ was empty and the node could not be found?
from ego-planner.
That's true
from ego-planner.
这是真的
May I ask if there is any good way to solve this problem?
I want to do two-dimensional planning, but sometimes I just go three-dimensional.
from ego-planner.
The planner is designed for 3D flight, and maybe converting to 2D will be a big project. A relatively easier solution is to modify the inflation function in the mapping code. You can choose a certain layer at a specific height and inflate that layer up and down with enough margin so that the trajectory will not go above the wall. It will make the new 3D map looks like this: Then implement the planner as normal and ignore the z-component of the trajectory.
May I ask how to operate or modify it? I don't understand this part of the code.
Because of my limited ability, I did not see how to operate.
from ego-planner.
modifying and debugging this is still a little bit complicated. So perhaps it is unavoidable for you to read and understand the code by yourself.
from ego-planner.
Related Issues (20)
- Can I control the plane myself when there are no obstacles?and trigger egoplanner when there is an obstacle HOT 14
- Is there any guide avaliable to modify the simulation parameters? HOT 1
- 规划问题 HOT 1
- 3D LiDAR instead HOT 4
- What is the maximum speed that this algorithm can support the aircraft to fly? HOT 1
- keep my plane at a fixed altitude! HOT 1
- Not able to fly real system with ego-planner HOT 6
- when I try to roslaunch multi_uva.launch, there is a repeat problem no odom, help. HOT 3
- I have ubuntu 20.04 on my computer, and the improved ROS-RealSense driver doesn't seem to work, so I should fix this HOT 1
- roslaunch run_in_sim.launch后rviz中无人机没有出现 HOT 3
- 请问,如何将vins定位变为动捕定位 HOT 1
- 关于订阅话题 HOT 1
- error: no match for ‘operator=’ HOT 1
- error: no match for ‘operator=’ HOT 4
- catkin_make -DCMAKE_BUILD_TYPE=Release执行后报错 HOT 2
- ego
- Run a simulation against a sample video HOT 3
- 高度问题 HOT 1
- Code calculates Minimum Jerk instead of Minimum Snap HOT 1
- 修改哪些参数可以提高无人机在仿真中的探测视野,我找到了一个sense_horizen HOT 1
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from ego-planner.