grid map, sensor
- 全局规划期剪枝。
- 优化问题求解总是失败。对障碍物进行膨胀
- MPC跟踪器
- 增加传感器范围显示,增加重规划
- 增加航向的规划
Simple 2D implement of the paper "Planning Dynamically Feasible Trajectories for Quadrotors Using Safe Flight Corridors in 3-D Complex Environments".
This repo only aims to help to better understand the paper "Planning Dynamically Feasible Trajectories for Quadrotors Using Safe Flight Corridors in 3-D Complex Environments".
This repo include three modules:
jps.py is the implement of the Jump Point Search (JPS) algorithm.
convex_decomp.py is the implement of the convex decompose according to a given path.
trajectory_optmization.py is the implement of the trajectory optimization. The trajectory is a piece-wise bezier curve and the optimization solver is osqp.