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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 CEM implementation over min_jerk; More work needed #9

Closed Debjoy10 closed 4 years ago

Debjoy10 commented 4 years ago

Doesn't properly work. Need for a better score function in evaluate(). Stuff to fix:

  1. Too much forward velocity creates drift
  2. Large deviations
Debjoy10 commented 4 years ago

For running the optimisation loop - run python cem_planner.py 0, which saves params and obstacle positions in a directory(CEM_data). Then running python cem_planner.py 1, retrieves info from the directory, creates the trajectory and runs on AirSim.

archit120 commented 4 years ago

Argh, okay so CEM needs a better score. Probably snap and jerk would be better.