New Curvature selector - Githubissues

jara001 / ng_trajectory

Racing Line Optimization using Nevergrad

GNU General Public License v3.0

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New Curvature selector #9

Closed jara001 closed 2 years ago

jara001 commented 2 years ago

Curvature selector is pretty nice, however is has its flaws. Currently, you have to tune the parameters manually. When done correctly, better results are promised.

Nevertheless, it would be nice to have a new version, that is able to detect some parameters from the track and adjust its configuration automatically.

jara001 commented 2 years ago

Current version of Curvature2 selector inspects:

Increase the number of points in the trajectory (interpolate subset, then increase the number of points accordingly). It seems that this allows to set the number of trajectory points with respect to the distance between them.
Use non-normalized curvature. Then, we can set the "interesting" turns by a turn radius, which could be set according to the vehicle parameters, e.g., length.
Instead of taking the points in the turns, rather take "entry" and "exit" point of the turn, e.g., placed in 40cm from the turn top.

jara001 commented 2 years ago

Current version of Curvature2 selector inspects:

* Increase the number of points in the trajectory (interpolate subset, then increase the number of points accordingly). It seems that this allows to set the number of trajectory points with respect to the distance between them.

* Use non-normalized curvature. Then, we can set the "interesting" turns by a turn radius, which could be set according to the vehicle parameters, e.g., length.

* Instead of taking the points in the turns, rather take "entry" and "exit" point of the turn, e.g., placed in 40cm from the turn top.

... however it is not yet in git. Expected for future releases, but we will see.

jara001 commented 2 years ago

Curvature2 selector was added in b4abc086b7383ce73afdd7361376f5212d1968cf.