修改绕障逻辑

2026-01-29 09:00:35 +08:00 · 2026-01-29 09:00:35 +08:00 · 02f0b42d36
commit 02f0b42d36
parent 7dc03a3c47
3 changed files with 2339 additions and 1303 deletions
--- a/src/autonomy/fu/config/fu_params.yaml
+++ b/src/autonomy/fu/config/fu_params.yaml
@ -4,7 +4,7 @@ FU:
    enable_obstacle_stop: True

    # 绕障功能 False or True
-    enable_obstacle_avoid: True  
+    enable_obstacle_avoid: False  

    # 可视化栅格 False or True
    enable_visualize_grid: False  
@ -30,3 +30,18 @@ FU:
    # 右侧扩展检测区域 int
    right_area_extend: 2  

+    # 路点到达容差(米)
+    waypoint_tolerance: 0.1
+
+    # 横向偏移量(栅格数)
+    lateral_offset: 2
+
+    # 平行前进距离(栅格数)
+    parallel_distance: 3
+
+    # 可绕过的最大障碍物宽度(栅格数)
+    avoid_able_width: 6
+
+    # 绕过所需最小空间(栅格数)
+    min_free_space: 6
+    
--- a/src/autonomy/fu/src/fu_node
+++ b/src/autonomy/fu/src/fu_node
--- a/src/autonomy/fu/src/fu_node.cpp
+++ b/src/autonomy/fu/src/fu_node.cpp