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ivogeorg / FCND-Motion-Planning

Udacity FCND Project 2 - Planning in complex urban environment using udacidrone API
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Extra challenges #21

Open ivogeorg opened 1 year ago

ivogeorg commented 1 year ago

A few extra challenges seem doable:

  1. Arbitrary trajectories smacks a lot like a step toward a full 3D grid. If the height can be preserved (i.e. the grid is not composed with a set target altitude, as it is by default), the code can be modified to land on top of obstacles. Some challenges:
    1. This may make grid unwieldy.
    2. Need to allow upward motions. Should there be diagonals? Should we construct a grid for every 5 meters rather than every meter (some buildings are taller than 150m!!!)?
    3. Is a 3D grid going to further exacerbate the slowness of path search? This may really require a bidirectional search (#14).
  2. To make deadbands a function of velocity, we need to know the velocity. Once the path is pruned, we can set maximum velocity higher. Then, probably, the deadband should be larger for high velocity and smaller for low velocity. Right?
  3. Setting a heading translates to a yaw angle (#15).
ivogeorg commented 1 year ago

When the path is pruned, the drone accelerates along straight lines. Then, the problem becomes overshoot past the end of the stretch which may cause collisions.