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ethz-asl / mav_trajectory_generation

Polynomial trajectory generation and optimization, especially for rotary-wing MAVs.
Apache License 2.0
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reaching maximum velocity as soon as possible #113

Open zaddan opened 3 years ago

zaddan commented 3 years ago

Hi,

I would like the trajectory to be optimized for time (of arrival to destination), ie., reach maximum velocity as soon as possibly and maintain it so we can get to the destination as soon a possible.

However, I have noticed that the trajectory output slowly reaches the maximum velocity (about half away between the source and destination) and then goes back down as we get close to the destination. Is it possible to reach maximum velocity as soon as possible and maintain maximum velocity throughout the trajectory?

Thank you very much.

zaddan commented 3 years ago

Hi, relevant to the question above, specifically I am wondering how to keep the velocity the same across two different vertices (which I have specified equal velocity constraints). At the moment, the optimizer generates a trajectory that velocity goes to zero between the vertices and then back up to the specified velocity. Thank you very much in advance. I really appreciate the help as I am under a paper deadline.

rishikeshrmadan commented 2 years ago

@zaddan did you eventually figure this out? Do shed some light, thanks