From 99f90c2e0d238a931709b92a9f448190fea40678 Mon Sep 17 00:00:00 2001 From: Tony Najjar Date: Mon, 14 Aug 2023 14:12:57 +0200 Subject: [PATCH] nav2_collision_monitor: collision detector (#3500) --- nav2_collision_monitor/README.md | 1 - 1 file changed, 1 deletion(-) diff --git a/nav2_collision_monitor/README.md b/nav2_collision_monitor/README.md index 10f4c90df5..eca25192b6 100644 --- a/nav2_collision_monitor/README.md +++ b/nav2_collision_monitor/README.md @@ -29,7 +29,6 @@ The following models of safety behaviors are employed by Collision Monitor: * **Stop model**: Define a zone and a point threshold. If more that `N` obstacle points appear inside this area, stop the robot until the obstacles will disappear. * **Slowdown model**: Define a zone around the robot and slow the maximum speed for a `%S` percent, if more than `N` points will appear inside the area. -* **Limit model**: Define a zone around the robot and clamp the maximum speed below a fixed value, if more than `N` points will appear inside the area. * **Approach model**: Using the current robot speed, estimate the time to collision to sensor data. If the time is less than `M` seconds (0.5, 2, 5, etc...), the robot will slow such that it is now at least `M` seconds to collision. The effect here would be to keep the robot always `M` seconds from any collision. The zones around the robot can take the following shapes: