Closed junzengx14 closed 2 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.
@hesuieins Alright, I guess we fixed this issue, let's close it once we uploaded the code.
This issue is resolved.
It's reported from @qinlincmu that the reproducing matrixA and matrixB will make the ego vehicle cannot overtake the leading vehicles.