Further develop minimum snap

Ruben-MR / Quadrotor_3D_planning_control

Repository for the Planning and Decision Making Project Code

MIT License

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Closed Ruben-MR closed 1 year ago

Ruben-MR commented 2 years ago

The minimum snap optimizer still has not been tested in 3D. The following steps should be something like:

Test it in 3D general trajectory
Test in a path generated with RRT-star
Test quadrotor-related constraints
Test other constraints for obstacle avoidance
Smarten the optimization (maybe optimize time, other possible improvements...??)

Ruben-MR commented 2 years ago

Updates on the issue:

Further evaluate actuator constraints (test penalty values and see)
~~Test other constraints for obstacle avoidance~~ (Done eventually with MPC)
~~ Solve time allocation issue~~
~~Smarten the optimization (maybe optimize time, other possible improvements...??)~~

Ruben-MR commented 1 year ago

All tasks were completed long ago, closing the issue as it was accidentally left open