Problem about the discontinuity of Yaw

zhm-real / MotionPlanning

Motion planning algorithms commonly used on autonomous vehicles. (path planning + path tracking)

https://github.com/zhm-real/MotionPlanning

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Open Miracle-qi opened 2 years ago

Miracle-qi commented 2 years ago

How do you deal with the discontinuity of Yaw as the reference used in the MPC controller?