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dmartinezbaselga / intrinsic-rewards-navigation

Repository of the work: Improving robot navigation in crowded environments using intrinsic rewards (ICRA 2023)
MIT License
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Doubt about the steering angles #3

Closed aleflabo closed 10 months ago

aleflabo commented 10 months ago

Dear authors,

Working at your code (by the way, thank you for making it open source!), I've noticed that there could be an incongruence with what is written in the paper. In the paper, in the "Problem Formulation" section, the steering angles are 16 evenly spaced in 0 and 2π radians.

In the code, there seems to be a limitation on the values of the rotations. By default is set to $[- \pi / 6, - \pi / 6]$, which is a hard constraint.

Am I missing something?

Thanks for any help you can provide.

Alessandro

dmartinezbaselga commented 10 months ago

Hi! Thank you for your comment. You are right. I can't tell you if it's a typo in the paper or something I changed in the code, as I conducted some other experiments different from those in the paper, also in a UGV. Anyway, you can adapt it to your robot constraints ;). You can contact me if you need any help!