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How to ensure the dynamics feasibility in trajectory optimization? #31

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meyiao opened this issue Mar 6, 2024 · 0 comments
Open

How to ensure the dynamics feasibility in trajectory optimization? #31

meyiao opened this issue Mar 6, 2024 · 0 comments

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@meyiao
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meyiao commented Mar 6, 2024

In the MINCO trajectory optimization part, the weight of feasibility cost is quite large (10000). However, the optimized trajectory's acceleration might still exceed the max acc limit. Could you suggest how to handle this problem?
Thanks a lot.
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