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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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Added dynamic Replanning #18

Open Debjoy10 opened 4 years ago

Debjoy10 commented 4 years ago

Adding noise in velocity commands to simulate drift for first 1-2 iters. (May have to modify threshold drift to suit simulation)

Debjoy10 commented 4 years ago

Thoda drift hai still, I think due to the motion in the idle time when the path is recomputed.

archit120 commented 4 years ago

Also, remove unneeded CEM files?

archit120 commented 4 years ago

It doesn't work really well right now. Too many changes needed.

Debjoy10 commented 4 years ago

Check how this version works on the simulator and revert.

archit120 commented 4 years ago

Drift calculation is a bit weird. It sometime doesn't replan till a lot of drift and sometimes replan with very little drift. Also, why is replanning so explicit? The vehicle stops and then restarts kinda. Need to fix somehow. Maybe when replanning, consider velocity and position sometime in future as initial? A better solution would be to replan in a parallel thread so that movement isn't affected.

A temporary solution is to set simpause when replanning.

Debjoy10 commented 4 years ago

@archit120

  1. In the time when it is calculating the path, no velocity commands are being given, so I think it goes into hover? And that's probably why it stops.
  2. There are a max drift and a minimum timestep condition in the breaking loop. Whatever the drift is it will not replan before moving 5 timesteps in current trajectory. This is given due to- a. Initial simulated drift is invisible without it. b. With no minimum timestep, it continuously replans, not giving the drone any chance to start moving on the correct path.
  3. Yeah, sim pause can be a temporary solution.
  4. Looking into the parallel thread stuff now.