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hanruihua / rl_rvo_nav

The source code of the [RA-L] paper "Reinforcement Learned Distributed Multi-Robot Navigation with Reciprocal Velocity Obstacle Shaped Rewards"
MIT License
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cal_vo_exp_tim函数算出来碰撞时间为负 #20

Closed ZSHCRWY25 closed 3 months ago

ZSHCRWY25 commented 3 months ago

如题，设置 rel_x =8 rel_y = 4 rel_vx = 2 rel_vy = 1 r=2 计算出来两根均为负

hanruihua commented 3 months ago

这种情况代表已经碰撞了 会返回 inf, 参见 函数 cal_exp_tim

https://github.com/hanruihua/rl_rvo_nav/blob/main/gym_env/gym_env/envs/reciprocal_vel_obs.py

ZSHCRWY25 commented 3 months ago

明白了！我将相对速度方向搞反了，我的问题，谢谢作者！