AerialRobotics
Simulate the path planning and trajectory planning of quadrotors/UAVs.
Motion Planning project
The main purpose:
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A new method to improve path planning
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Compare JPS and new method
Functions already implemented:
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Path planning algorithms (Jump point search, JPS-PF )
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Generating Convex Polytopes(Safe Flight Corridors)
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Time Allocation(Average time allocation, Trapezoidal time allocation)
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Trajectory planning(QP)
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Trajectory following control(PD controller)
The more detailed data is in Motion_Planning.md
Demo animation:
Trajectory Planning project
The main purpose:
- Compare different pathfinding algorithms(Dijkstra, Astar, Jump point search)
- Compare different trajectory planning methods(Ax = b, QP)
Functions already implemented:
- Path planning algorithms (Dijkstra, Astar, Jump point search)
- Generating Convex Polytopes(Safe Flight Corridors)
- Trajectory planning(Ax = b, QP)
- Trajectory following control(PD controller)
The more detailed data is in Trajectory_Planning.md
Demo animation:
More related knowledge introduction on Wiki
New feature schedule on projects
Bug and issue tracking on projects
Reference
[1] D. Harabor and A. Grastien. 2011. "Online Graph Pruning for Pathfinding on Grid Maps". In Proceedings of the 25th National Conference on Artificial Intelligence (AAAI), San Francisco, USA.
[2] R. Deits and R. Tedrake, "Computing large convex regions of obstacle-free space through semidefinite programming",in Algorithmic Foundations of Robotics XI. Berlin, Germany: Springer, 2015, pp. 109–124.
[3] S. Liu, M. Watterson, K. Mohta, K. Sun, S. Bhattacharya, C.J. Taylor, et al., "Planning dynamically feasible trajectories for quadrotors using safe flight corridors in 3-d complex environments", IEEE Robotics and Automation Let- ters, vol. 2, no. 3, pp. 1688-1695, July 2017.
[4] S. Savin, "An algorithm for generating convex obstacle-free regions based on stereographic projection,” in International Siberian Confer- ence on Control and Communications, 2017.
[5] Xingguang Zhong, Yuwei Wu, Dong Wang, Qianhao Wang, Chao Xu, and Fei Gao, "Generating Large Convex Polytopes Directly on Point Clouds",2020
[6] D.W.Mellinger,"Trajectory generation and control for quadrotors"Ph.D. dissertation, Univ. Pennsylvania, Philadelphia, PA, 2012.
[7] D. Mellinger and V. Kumar, "Minimum snap trajectory generation and control for quadrotors", inProc. 2011 IEEE Int. Conf. Robot.Autom.,2011
[8] C. Richter, A. Bry, and N. Roy, “Polynomial trajectory planning for aggressive quadrotor flight in dense indoor environments,” in Proc. Int. Symp. Robot. Res., 2016.
[9] T. Lee, M. Leoky, and N. H. McClamroch, "Geometric tracking control of a quadrotor UAV on SE (3)", in Proc. 49th IEEE Conf. Decis. Control. IEEE, 2010, pp. 5420–5425.
[10] Daniel Mellinger, Alex Kushleyev and Vijay Kumar,"mixed-integer quadratic program trajectory generation for heterogeneous quadrotor teams", IEEE, 2012