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ZJU-FAST-Lab / ego-planner

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The reason to suppress the slope of the collisioin cost #40

Closed Joeyyuenjoyslife closed 2 years ago

Joeyyuenjoyslife commented 2 years ago

Hi, Here is Joey. I want to know is there any specific reason to suppress the slope of the collision cost item when distance is negative? i can't find further explanation in the paper, thanks a lot ! image

bigsuperZZZX commented 2 years ago

Well, it's a little bit complicated. We use a quasi-Newton method L-BFGS as our optimizer described in section "B. Numerical Optimization". It approximates the optimized function in a quadratic form. Therefore the more similar we formulate the cost function to a quadratic form, the faster convergence we can achieve in theory.

Joeyyuenjoyslife commented 2 years ago

Thanks for your reply! it makes sense, I will close this issue.