Hi, I am really interested in this project, but when I was running the code, although I changed the initial speed and friction coefficient, I still couldn't get the following two pictures. Could you please help me?

WhiffleFish / MPC-Collision-Avoidance

Aggressive Vehicular Collision Avoidance Maneuvering using Model Predictive Control

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Hi, I am really interested in this project, but when I was running the code, although I changed the initial speed and friction coefficient, I still couldn't get the following two pictures. Could you please help me? #3

Open 666czh opened 5 months ago

666czh commented 5 months ago

frictionPlots SpeedPlotsReduced

WhiffleFish commented 5 months ago

Heya, sorry I haven't really touched much of the code in this repository in a long time. What exactly are you having trouble with? Are the trajectories you're getting not consistent with those in the figure or are you just having trouble aggregating a collection of trajectories into a figure like I have?

666czh commented 5 months ago

Heya, sorry I haven't really touched much of the code in this repository in a long time. What exactly are you having trouble with? Are the trajectories you're getting not consistent with those in the figure or are you just having trouble aggregating a collection of trajectories into a figure like I have?

Hi, when I set the initial speed to 20m/s, the curve of the running result is indeed roughly the same as you provided, but the position of the obstacle is not x = 25m. That is, I cannot guarantee that the result meets the parameter settings of the obstacles given in the code, and how did you combine the different speeds and the position of the obstacles into a picture like this one? SpeedPlotsReduced

666czh commented 5 months ago

Heya, sorry I haven't really touched much of the code in this repository in a long time. What exactly are you having trouble with? Are the trajectories you're getting not consistent with those in the figure or are you just having trouble aggregating a collection of trajectories into a figure like I have?

Hi, when I set the initial speed to 20m/s, the curve of the running result is indeed roughly the same as you provided, but the position of the obstacle is not x = 25m. If possible, could you please provide the source code? b9e904d45f0abad951f12456f3710b9

666czh commented 5 months ago

Hi, I still haven't solved the above problem, could you please provide the source code?

666czh commented 4 months ago

Heya, sorry I haven't really touched much of the code in this repository in a long time. What exactly are you having trouble with? Are the trajectories you're getting not consistent with those in the figure or are you just having trouble aggregating a collection of trajectories into a figure like I have?

Hi, when I set the initial speed to 20m/s, the curve of the running result is indeed roughly the same as you provided, but the position of the obstacle is not x = 25m. If possible, could you please provide the source code?

Hello, if I want to constrain not only the reference trajectory but also the front wheel deflection angle and heading angle when changing lanes, how can I write the code? 65a7c188de3917b8454b59f6c073928 1cf74270bddf0a8e83b73e2b9ae2d22