49 lines
1.2 KiB
YAML
49 lines
1.2 KiB
YAML
# IMPORTANT PARAM: actual velocity in training / test
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velocity: 6.0
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# used to align the vel/acc, if vel*n then acc*n*n
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vel_align: 6.0
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acc_align: 6.0
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# IMPORTANT PARAM: weight of penalties (6m/s)
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wg: 0.1 # guidance
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ws: 0.0015 # smoothness
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wc: 0.5 # collision
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# dataset
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dataset_path: "../dataset"
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image_height: 96
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image_width: 160
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# trajectory and primitive param (Note: traj_time = 2 * radio / vel_max)
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horizon_num: 5
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vertical_num: 3
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horizon_camera_fov: 90.0
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vertical_camera_fov: 60.0
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horizon_anchor_fov: 30.0
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vertical_anchor_fov: 30.0
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radio_range: 5.0 # planning horizon: 2 * radio_range
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radio_num: 1 # only support 1 currently
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# safety penalties
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d0: 1.2
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r: 0.6
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# distribution parameters for unit state sampling (no need to adjust)
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vx_mean_unit: 0.5
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vy_mean_unit: 0.0
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vz_mean_unit: 0.0
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vx_std_unit: 1.7
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vy_std_unit: 0.45
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vz_std_unit: 0.3
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ax_mean_unit: 0.0
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ay_mean_unit: 0.0
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az_mean_unit: 0.0
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ax_std_unit: 0.4
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ay_std_unit: 0.4
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az_std_unit: 0.3
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goal_pitch_std: 10.0 # clip goal_length to: 2 * radio_range; 10% probability [0, 2 * radio_range]
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goal_yaw_std: 20.0
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# extend the map to avoid trajectory exceeding bounds (especially in z-axis) and treating the sky outside the map as obstacle
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map_expand_min: [0, 0, 0.2]
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map_expand_max: [0, 0, 6.0] |