Trajectory Cost Evaluation

Kompass includes built-in cost evaluation functions (implemented in kompass_cpp) and supports running custom cost evaluation functions to calculate the overall cost of a trajectory during navigation.

Cost	Description
Reference Path	Measured using the average distance between the trajectory under evaluation and the closest reference (global) path segment. Added for favoring trajectories that remain close to the reference
Goal Destination	Evaluated based on the distance between the end of the trajectory and the final destination point of the navigation. Added for favoring trajectories that lead the robot closer to the goal point
Obstacles Min-Distance	Evaluated using the minimum distance between the trajectory points and the surrounding obstacles. Supports information from direct sensor data (LaserScan and PointCloud). Added for favoring trajectories that keep the robot away from nearby obstacles
Smoothness	Based on the average change in velocity along the trajectory under evaluation
Jerk	Based on the average change in acceleration along the trajectory under evaluation

Costs Weights

The total cost of a trajectory is computed as the sum of all the default costs weighed by their respective cost weights.

Name	Type	Default	Description
reference_path_distance_weight	float	3.0	Weight of the reference path cost. Must be between 0.0 and 1e3.
goal_distance_weight	float	3.0	Weight of the goal position cost. Must be between 0.0 and 1e3.
obstacles_distance_weight	float	1.0	Weight of the obstacles distance cost. Must be between 0.0 and 1e3.
smoothness_weight	float	0.0	Weight of the trajectory smoothness cost. Must be between 0.0 and 1e3.
jerk_weight	float	0.0	Weight of the trajectory jerk cost. Must be between 0.0 and 1e3.

Tip

Set a cost weight to 0.0 to exclude that cost and not take it into consideration