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Ruben-MR / Quadrotor_3D_planning_control

Repository for the Planning and Decision Making Project Code
MIT License
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The minimum snap algorithm fails when using "smart" time allocation #9

Closed Ruben-MR closed 2 years ago

Ruben-MR commented 2 years ago

Smart time allocation seems to be giving a lot of trouble. It does not seems to work with smart time allocation. However, for constant interval time between points it solves correctly. Further research should be performed in this.

yuezhezhang commented 2 years ago

I guess this has something to do with two scenarios. One is due to the very large number in a single path segment, which is easy to solve and we can simply give a small number. The other may be due to the rounding errors of the float type, I try to round the ts list to 2 decimal places and 1 decimal, but in vain. I also find a good reference about the time allocation optimization, just like what you said this morning, and add it to the README. If we still cannot solve the issue in next one or two days, using the time allocation optimization can be our last choice