HiepLM/pnkx_nav_core
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update thuat toan moi

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HiepLM
2026-01-28 10:54:04 +07:00
parent 620db96de0
commit 85789855a8
2 changed files with 61 additions and 39 deletions
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config/pnkx_local_planner_params.yaml
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@@ -85,9 +85,9 @@ MKTAlgorithmDiffPredictiveTrajectory:
# only when false:
lookahead_dist: 0.5 # The lookahead distance (m) to use to find the lookahead point. (default: 0.6)
# only when true:
min_lookahead_dist: 0.6 # The minimum lookahead distance (m) threshold. (default: 0.3)
min_lookahead_dist: 0.4 # The minimum lookahead distance (m) threshold. (default: 0.3)
max_lookahead_dist: 2.0 # The maximum lookahead distance (m) threshold. (default: 0.9)
lookahead_time: 1.9 # The time (s) to project the velocity by, a.k.a. lookahead gain. (default: 1.5)
lookahead_time: 2.0 # The time (s) to project the velocity by, a.k.a. lookahead gain. (default: 1.5)
min_journey_squared: 0.3 # Minimum squared journey to consider for goal (default: 0.2)
max_journey_squared: 0.8 # Maximum squared journey to consider for goal (default: 0.2)
max_lateral_accel: 2.0 # Max lateral accel for speed reduction on curves (m/s^2)