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关于雷达倒放 #5
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感谢大佬的分享,现已实现倒装雷达的坐标转换问题。想请教一下有关far planner的调试问题。大佬在用far planner构建地图时是如何调整参数的。我在现实环境中构建的地图非常抽象 |
在实机部署中,Ji Zhang, Ph.D from cmu 的自主探索导航系统,我只用了中间层,相当于是他的local-planner,即https://github.com/jizhang-cmu/ground_based_autonomy_basic这项工作 因为在我的使用场景中,即比赛,地图是提前已知且不会改变的,我认为上层使用全局规划器如A*等,会比使用诸如far_planner等探索规划器会有更好的竞技表现,因为far_plannner等探索规划器在陡坡很多,且场地坡面较窄的场景下,算法的鲁棒性,易用性还是有待提高(个人观点) 对于local-planner from Ji Zhang, Ph.D的实机部署,可以见我的NEXTE_Sentry_Nav_3D, 里面有部分调参说明和代码注释,同时sentry_sim也更新了A*全局规划器+local_planner from Ji Zhang, Ph.D的相关代码,只是还没时间更新readme。 |
会不会因为倒放,地面点云太多导致重定位效果很差?初始位姿需要给翻转角度以便更好的匹配吗? |
有这个可能性,取决于使用场景吧 |
请问如果mid-360倒放需要如何进行适配呢?倒放的方式是否适合cmu那套框架?
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