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ZJU-FAST-Lab / ego-planner-swarm

An efficient single/multi-agent trajectory planner for multicopters.
GNU General Public License v3.0
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when you avoid obstacles, how do you ensure that the plane will not collide #30

Closed 001zwzwzw closed 2 years ago

001zwzwzw commented 2 years ago

hello!I want to know the method that when you avoid obstacles, how do you ensure that the plane will not collide

ZhepeiWang commented 2 years ago

@bigsuperZZZX

bigsuperZZZX commented 2 years ago

The plane itself does not need to be strictly collision-free. It just provides the information to push the only control point that generates this plane away from obstacles. Whether the final trajectory is collision-free is guaranteed by a post-check procedure.

001zwzwzw commented 2 years ago

@bigsuperZZZX Thanks very much ! then,i want to ask the problem that every trajectories of drone 0-9 are known other drones?For example the trajectory of drone 0 is known by other drones like drone 1-9? how do you achieve them in procedure

bigsuperZZZX commented 2 years ago

Everyone knows others' trajectories via a wireless broadcasting network.

001zwzwzw commented 2 years ago

@bigsuperZZZX Wether this method will bring a communication pressure in real test of UAV-swarm ?thanks!

bigsuperZZZX commented 2 years ago

It's hard to tell since wireless communication quality is affected by many factors. According to our tests, a swarm of ten drones enjoys the WiFi connection. We haven't tested more agents as we have 10 drones in total.

001zwzwzw commented 2 years ago

@bigsuperZZZX ok I learn more knowledge from you! Thank you, senior brother! about hardware equipment,do you use two camera to run ego-planner? one provides depth image,another provides position information?

001zwzwzw commented 2 years ago

for example D435i and T265?

bigsuperZZZX commented 2 years ago

We use D435 only with vins which positions our drones.

001zwzwzw commented 2 years ago

yea! I konw ! Thank you very much