<param name="if_mpc" value="false"/>

[LinSC666]

If I don't want to use MPC to perform trajectory optimization again, I want to directly output v and w from the minco trajectory，just like that .
But I found that the car's movement does not follow the trajectory，and the car collide the obsatcle, why?

[bigdoubi]

This is expected behavior — you're running open-loop control, which is inherently sensitive to disturbances and model errors.
Even though the optimization gives a trajectory with v and w, directly executing these commands without feedback will almost always lead to accumulated error and collision.

Use a closed-loop tracker (e.g., Pure Pursuit, PID, or MPC) to track the trajectory instead of executing the raw v and w is necessary.

In fact, use_mpc_=false was originally used for debugging. If you want to strictly execute the trajectory, the expected position should be directly sent to the simulator - which is difficult in the real world.

[LinSC666]

您好，邮件已收到，我会尽快回复您，感谢喔！Hello, the E-mail has been received, I will reply you as soon as possible, thank you!