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对比代码与论文发现的一个小问题 #16
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在论文中有提到:一般情况下无人机的偏航角是朝向跟踪对象的,但是当检测到未来的轨迹会到达未知的地方时,会让无人机朝向未知区域。我看到在代码里面也有这部分,但是被注释了,我取消注释后再去跑发现这个貌似是不太合理的,因为在跟踪过程中会有面朝前后退的情况,按原文的逻辑就要求偏航角朝后,感觉这样大机动的调整偏航角一是容易更丢,二是对SLAM自主定位也有不好的影响。希望能得到作者您的解答。
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