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tyuezhan / SEER

SEER: Safe Efficient Exploration for Aerial Robots using Learning to Predict Information Gain
GNU General Public License v3.0
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something wrong with controller module #4

Open saumonk opened 6 months ago

saumonk commented 6 months ago

Thanks very much for your contribution. When I run your package, a problem often appears as show below. Detailly, the drone often instantaneous drifts. Looking forward to hearing from you. issue

bash

tyuezhan commented 3 months ago

Hi,

From our experience, this is an issue created by an aggressive stopping policy in simulation. One way to completely get rid of this is to switch to a stopping policy which is less aggressive. This will have no guarantee on where the quadrotor would fully stop but instead we could use "const jerk" or "const acceleration" as the control input to stop as soon as possible. For example, the one used in our kr_autonomous_flight. Please see: https://github.com/tyuezhan/kr_mav_control/commit/708d0eabbec65c0f0ed20dc81c22f71f58d5d55f#diff-2cfc2f56716c5413b276bb59b718f66dd207f4ef95d185bb6da5afcfe34ee8ed https://github.com/KumarRobotics/kr_autonomous_flight/blob/master/autonomy_core/state_machine/action_trackers/src/stopping_policy.cpp for more details.