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HybridRobotics / car-racing

A toolkit for testing control and planning algorithm for car racing.
MIT License
165 stars 29 forks source link

racing.py solve failed #5

Closed maozaizhou closed 2 years ago

maozaizhou commented 2 years ago

System information OS Platform and Distribution (e.g., Linux Ubuntu 18.04): Linux Ubuntu 18.04 Branch: master Steps to reproduce the issue: python examples/racing.py --simulation --plotting --animation

Error detail: Car-Racing/src/policy.py", line 224, in calc_input sol = opti.solve()

RuntimeError: Error in Opti::solve [OptiNode] at .../casadi/core/optistack.cpp:159: .../casadi/core/optistack_internal.cpp:999: Assertion "return_success(accept_limit)" failed: Solver failed. You may use opti.debug.value to investigate the latest values of variables. return_status is 'Infeasible_Problem_Detected'

Dear Jun Zeng, there some error when running racing.py example, I'm wondering if it's a bug or just some error cause by casadi.

junzengx14 commented 2 years ago

Thank you for pointing out this issue, actually the error could occur randomly due to some infeasibility issue of our proposed approach described in our ACC paper (paper link), this issue is addressed in our later theoretical work which will appear in CDC (paper link) this year.

We will update the code pretty soon together with new submitted paper to ICRA, where problem will be resolved and much better racing behavior will be carried out. I will ping again this thread once we upload things.

maozaizhou commented 2 years ago

cool,I'm new to CBF algorithm,but I use casadi a lot, maybe I can do some contribution to this repo in the future when getting more deep into CBF.

junzengx14 commented 2 years ago

cool,I'm new to CBF algorithm,but I use casadi a lot, maybe I can do some contribution to this repo in the future when getting more deep into CBF.

Thank for your interests! That's awesome, we will have a big new release before Christmas (expected) together with our ICRA submission. I will let you know in this issue.

junzengx14 commented 2 years ago

@maozaizhou The paper is released on https://arxiv.org/abs/2112.06435, code will be released very soon.

maozaizhou commented 2 years ago

@junzengx14 Nice work, happy holidays by the way.

junzengx14 commented 2 years ago

The latest version is released.