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uzh-rpg / agile_flight

Developing and Comparing Vision-based Algorithms for Vision-based Agile Flight
MIT License
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goal_vel ? #45

Closed HarukiKozukapenguin closed 2 years ago

HarukiKozukapenguin commented 2 years ago

ReadMe says "The goal is to proceed as fast as possible 60m in positive x-direction without colliding into obstacles and exiting a pre-defined bounding box". Then, what the goal_vel stands for? Should drone be such velocity when we reach the goal? Or there are no restriction for velosity?

yun-long commented 2 years ago

it is a hyperparameter that you can change

you can use adaptive goal velocity depending on how the distance between the current quadrotor and the goal position/

or, you don't need a goal velocity but minimize the distance between the current quadrotor and the goal positon.

HarukiKozukapenguin commented 2 years ago

@yun-long Does adaptive goal velocity mean "desired velocity for quadrotor"? I think so, because quadrotor get penalty depending on gap between velocity of quadrotor and goal_vel.