Fix drift in Trajectory Planner

Drone-Acharya / airsim_grid2.0

Drone-Acharya's (ARL KGP Software and Controls Team) Main Repository for GRID 2.0 Competition by FK

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Fix drift in Trajectory Planner #15

Open Debjoy10 opened 4 years ago

archit120 commented 4 years ago

I think drift is in all directions. A possible solution would be to replan every step or every time drift is more than a threshold

Debjoy10 commented 4 years ago

That can be done. Another element of drift can be due to drones inability to exactly follow fast speed/trajectory changes. Probably, limit velocity to a threshold? (Can use CEM over simulation roll-outs and minimize drift to find the ideal velocity threshold? Bit of a stretch though)

archit120 commented 4 years ago

Yeah, it'll be better to just slow everything down

Debjoy10 commented 4 years ago

https://github.com/Drone-Acharya/airsim_grid2.0/pull/18