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elvout / cs393r

CS 393R Graduate Autonomous Robots, Fall 2021 | Autobots
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Latency compensation #6

Closed aiddun closed 3 years ago

aiddun commented 3 years ago

How do we compensate for system latency?

We're given 2 paths:

  1. Calculate motion given latency quantification (#5), translate points to their view after that motion and use that for planning
  2. Calculate a path given current sensor readings, then compensate for movement during latency

Should we explore both paths? I know the first should be more reliable, but TWE is that needed from what he said in class?

elvout commented 3 years ago

Our latency compensation currently uses the first path. It seems to be working fairly well but we might need to polish it. I won't close the issue for now.