Yaw for trajectory optimization? about ego-planner-swarm HOT 5 CLOSED

Yes.
To make a safe flight, the drone should look ahead, i.e., roughly point along with the velocity direction.

from ego-planner-swarm.

@bigsuperZZZX, thanks for your reply. I noticed that you used a front facing D345/D345i camera. Am I right?
I used a similar configuration while testing in simulation. With the default planner config I noticed that the drone to do translation+rotation at the same time. How do you manage the situation where the obstacle and the goal are in the backward direction?
I know this is related to MAX_YAW_RATE, MAX_VEL and MAX_ACC. If I keep the max_yaw rate to be high(default 3.14rad/sec), the drone in simulation crashes (I believe, it has something to do with the drone controls in simulation). So, to correct the same I have to reduce the all the above params to achieve rotation in-place.

What are your views on this?

from ego-planner-swarm.

Yaw control in simulation is really poor, so just leave it.
A well-turned real drone can rotate its yaw agilely(typically above 3.14rad/sec).

Also, maybe you can try to improve the yaw control quality and we would appreciate it.

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What I noticed while testing is that the drone is not able to follow the planned trajectory is certain situations and since the planning and execution parts are decoupled, it leads to failures/collisions. Have these failure cases already been handled or do we need to add our own?

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Tracking error is unavoidable in simulation or real-world implementations. What situations are you encountered, could you show me some pictures?

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