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HybridRobotics / car-racing

A toolkit for testing control and planning algorithm for car racing.
MIT License
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System identification #2

Closed junzengx14 closed 2 years ago

junzengx14 commented 3 years ago

It's reported from @qinlincmu that the reproducing matrixA and matrixB will make the ego vehicle cannot overtake the leading vehicles.

junzengx14 commented 3 years ago

@qinlincmu I'm looking into this problem recently. I think you figure out a very good question as current MPC-CBF is very sensitive to model uncertainty. We will try to fix this issue in the incoming paper with x(t+1) = Ax(t) + Bu(t) +C or other approaches.

junzengx14 commented 2 years ago

@hesuieins Alright, I guess we fixed this issue, let's close it once we uploaded the code.

junzengx14 commented 2 years ago

This issue is resolved.