Motion Planning For UAV

The final project of deepblue motion planning course. It's a C++ implementation of old-school motion planning pipeline (path finding + optimization).

• RRT* algorithm path finding based on OMPL library
• RDP algorithm minimize waypoints based on divide & conquer
• Minimum-snap algorithm trajectory generation based on QP problem
• Trajectory replanning trajectory replanning

Compile & Run

#1 Install dependencies
sudo apt-get install cmake libopenblas-dev liblapack-dev libarpack-dev libarpack2-dev libsuperlu-dev

#2 Install Eigen and OMPL library

#3 Install aramadillo
xz -d armadillo-9.870.2.tar.xz
tar -xvf armadillo-9.870.2.tar
cd armadillo-9.870.2
mkdir build
cd build
cmake ..
make
sudo make install

#4 Compile and run basic program
cd ./catkin_ws
catkin build
roslaunch trajectory_generator demo.launch

Motion Planning Result