Comments (3)
Whenever you place a waypoint, the robot needs to drive over it to mark it as "reached" and then the next waypoint is selected as the robot's target. In this case the first waypoint is not being reached which means that the program does not update the goal of the robot. The MPC controller finds the best actions for a given set of waypoints called the horizon starting from the current goal waypoint, in this case the best actions result in the robot not going over the first waypoint.
I am working on a solution now, I will update the repository by tomorrow, but in the meanwhile, a temporary workaround would be to place waypoints really close to one another like in the controller comparison script.
from differential-drive-robot-navigation.
Hi, the recent changes I pushed to main fixes this problem. The MPC implementation had some issues before, its all good now. Although, it still struggles at very sharp turns at times, I am working on a fix for that right now.
from differential-drive-robot-navigation.
Same problem, any update?
from differential-drive-robot-navigation.
Related Issues (2)
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from differential-drive-robot-navigation.