规划算法-TEB

Parameter Description

The teb_local_planner package allows the user to set parameters in order to customize the behavior. These parameters are grouped into several categories: robot configuration, goal tolerance, trajectory configuration, obstacles, optimization, planning in distinctive topologies and miscellaneous parameters.

1. Trajectory Configuration Parameters

Parameter	Values	Description
teb_autosize	true/false	If set to true automatic resizing occurs
dt_ref	number	Desired temporal resolution of the trajectory (the trajectory is not fixed to dt_ref since the temporal resolution is part of the optimization, but the trajectory will be resized between iterations if dt_ref +-dt_hysteresis is violated.
dt_hysteresis	number	Hysteresis for automatic resizing depending on the current temporal resolution, usually approx 10% of dt_ref is recommended
global_plan_overwrite_orientation	true/false	Overwrite orientation of local subgoals provided by the global planner (since they often provide only a 2D path)
max_global_lookahead_dist	S.I	Specify the maximum length (cumulative Euclidean distances) of the subset of the global plan taken into account for optimization. The actual length is then determined by the logical conjunction of the local costmap size and this maximum bound. Set to zero or negative in order to deactivate this limitation.
feasibility_check_no_poses	number	Specify up to which pose on the predicted plan the feasibility should be checked each sampling interval.
min_samples	number	Minimum number of samples( always greater than 2)
max_samples	number	Maximum number of samples

2. Robot Configuration Parameters

Parameter	Units	Description
max_vel_x	S.I	Maximum translational velocity of the robot
max_vel_x_backwards	S.I	Maximum absolute translational velocity of the robot while moving backwards
max_vel_theta	S.I	Maximum angular velocity of the robot
acc_lim_x	S.I	Maximum translational acceleration of the robot
acc_lim_theta	S.I	Maximum angular acceleration of the robot
min_turning_radius	S.I	Maximum turning radius of a car like robot (set to zero for diff-drive robot)

3. Robot Footprint Parameters

Parameter	Values	Description
type	point, circular, two_circles ,line, polygon	Type of robot
radius	Numeric eg. 0.2	Radius for circular robot
line_start	Eg. [-0.3, 0.0]	It contains the start coordinates of the line segment for type “line”
line_end	Eg. [0.3, 0.0]	It contains the end coordinates of the line segment for type “line”
front_offset	Numeric eg. 0.2	It describes how much the center of the font circle is shifted along the robot’s x-axis. The robot’s axis of rotation is assumed to be located at [0,0] for type “two_ci