AerialRobotics

Simulate the path planning and trajectory planning of quadrotors/UAVs.

Motion Planning project

The main purpose:

• A new method to improve path planning

• Compare JPS and new method

Functions already implemented:

• Path planning algorithms (Jump point search, JPS-PF )

• Generating Convex Polytopes(Safe Flight Corridors)

• Time Allocation(Average time allocation, Trapezoidal time allocation)

• Trajectory planning(QP)

• Trajectory following control(PD controller)

The more detailed data is in Motion_Planning.md

Demo animation:

Trajectory Planning project

The main purpose:

• Compare different pathfinding algorithms(Dijkstra, Astar, Jump point search)
• Compare different trajectory planning methods(Ax = b, QP)

Functions already implemented:

• Path planning algorithms (Dijkstra, Astar, Jump point search)
• Generating Convex Polytopes(Safe Flight Corridors)
• Trajectory planning(Ax = b, QP)
• Trajectory following control(PD controller)

The more detailed data is in Trajectory_Planning.md

Demo animation:

More related knowledge introduction on Wiki

New feature schedule on projects

Bug and issue tracking on projects

Reference

[1] D. Harabor and A. Grastien. 2011. "Online Graph Pruning for Pathfinding on Grid Maps". In Proceedings of the 25th National Conference on Artificial Intelligence (AAAI), San Francisco, USA.

[2] R. Deits and R. Tedrake, "Computing large convex regions of obstacle-free space through semidefinite programming",in Algorithmic Foundations of Robotics XI. Berlin, Germany: Springer, 2015, pp. 109–124.

[3] S. Liu, M. Watterson, K. Mohta, K. Sun, S. Bhattacharya, C.J. Taylor, et al., "Planning dynamically feasible trajectories for quadrotors using safe flight corridors in 3-d complex environments", IEEE Robotics and Automation Let- ters, vol. 2, no. 3, pp. 1688-1695, July 2017.

[4] S. Savin, "An algorithm for generating convex obstacle-free regions based on stereographic projection,” in International Siberian Confer- ence on Control and Communications, 2017.

[5] Xingguang Zhong, Yuwei Wu, Dong Wang, Qianhao Wang, Chao Xu, and Fei Gao, "Generating Large Convex Polytopes Directly on Point Clouds",2020

[6] D.W.Mellinger,"Trajectory generation and control for quadrotors"Ph.D. dissertation, Univ. Pennsylvania, Philadelphia, PA, 2012.

[7] D. Mellinger and V. Kumar, "Minimum snap trajectory generation and control for quadrotors", inProc. 2011 IEEE Int. Conf. Robot.Autom.,2011

[8] C. Richter, A. Bry, and N. Roy, “Polynomial trajectory planning for aggressive quadrotor flight in dense indoor environments,” in Proc. Int. Symp. Robot. Res., 2016.

[9] T. Lee, M. Leoky, and N. H. McClamroch, "Geometric tracking control of a quadrotor UAV on SE (3)", in Proc. 49th IEEE Conf. Decis. Control. IEEE, 2010, pp. 5420–5425.

[10] Daniel Mellinger, Alex Kushleyev and Vijay Kumar,"mixed-integer quadratic program trajectory generation for heterogeneous quadrotor teams", IEEE, 2012