Obstacle is ignored when robot moving towards obstacle

[A2techh]

obstacleAvoidance.mp4

Hi, thank you for the hard work. I am trying to implement your system in real robot, the waypoint function works great. However, I am facing issue for obstacle avoidance, the obstacle is ignored when the robot move near the obstacle. It can be seen at 0:17 of the video in the link.

I only changed the yawRateGain and maxYawRate, what parameter should I tune to avoid this issue?

[LiYang-Robot]

Hello, I have also encountered the same problem recently. When an obstacle is relatively close to the robot, the robot cannot recognize it. I have tested whether this framework combined with target can dynamically avoid obstacles. It is possible for me to enter the path of the robot when I am far away, but the robot cannot avoid obstacles when I am close to it. What should I do?
你好，我最近也遇到了相同的问题，当障碍物距离机器人比较近的时候，机器人也无法识别到该障碍物。我曾测试这个框架与tare结合是否能够动态避障，当我在距离机器人较远的时候进入机器人的路径上，是能够实现的，但是在距离机器人较近的时候机器人却不能够避障，请问我该如何做？