bugday001 / planner2d

二维轨迹规划器

Planner2D

grid map, sensor

TODO

• 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

以下为原始项目

SimplePlanner

Simple 2D implement of the paper "Planning Dynamically Feasible Trajectories for Quadrotors Using Safe Flight Corridors in 3-D Complex Environments".

Info

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".

Modules

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.