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ZJU-FAST-Lab / GCOPTER

A General-Purpose Trajectory Optimizer for Multicopters
MIT License
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Controller #13

Open engcang opened 1 year ago

engcang commented 1 year ago

Hi. Firstly, I really appreciate for sharing your great works. I wonder which controller you used for tracking planned trajectory accurately. I looked into some of your lab's papers mentioning MINCO but couldn't find which controller you used for real-world drones. Even though the trajectory planned is dynamics-awared, I believe that controller should be also very accurate and fast, with feedback of course.

I also wonder when you are planning to provide further example codes, especially for the ball-shaped corridor safety constraints!

Thank you in advance.

chenhanpolyu commented 1 year ago

you can check this link and find the controller in it. I think a ball-shaped corridor is too conservative to extract the free space, and polygons are better.