Comments (1)
In the zoomed figure, I can see a singular switch point (green) around 0.56. My guess is that the algorithm was not able to go through this switch point because it was too low: any small numerical integration error will lead to hitting either sdot = 0 or the MVC, causing termination.
Looking at the path in the XY-plane, this low singular switch point might indeed correspond to the sharp cusp in the top right corner. One idea could be to avoid too sharp turns at the path planning stage, if possible.
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Related Issues (20)
- AVP ok but PP fails HOT 1
- openrave exception in ZMP trajectory HOT 1
- MotionPlanning.py
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- TrimSwitchPoints incrementing iterator at the end of the list HOT 1
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- Can I apply this in cartesian space trajectory? HOT 12
- How
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