quadrotor_trajectory

Generating minimum snap trajectories between waypoints for quadrotors The package has been tested on MacOS running Sierra 10.12.6

Installing the package

• Install cvxpy by following the guide at this link.
• clone the package by running the following in terminal:

git clone https://github.com/The-SS/quadrotor_trajectory.git

Using the package

• Navigate to the scripts folder:

cd <path_to_quadrotor_trajectory>/scripts

• open min_snap_traj.py in your favorite text editor
• Scroll down to main (if __name__ == "__main__":)
• The number 7 in st = SnapTrajectory(7) indicated the degree of the polynomial used to generate the trajectory
• To specify the waypoints, follow the provided example. w = [[0,-0.5],[0,0],[0],[0],[0]] provides the first waypoint. The other waypoints are appended in the following order: [x and its derivatives], then [y and its derivatives], then [z and its derivatives], then [yaw and its derivatives], then [time at arrival to waypoint]. A more detailed description can be seen in the description of the function traj or traj_stepwise.
• Use st.traj(w) or st.traj_stepwise(w). st.traj(w) will generate the trajectories on intervals [t0,t1], [t1,t2], ... [t_(n-1), t_n]. st.traj_stepwise(w) generates the trajectories on intervals [0, t1-t0], [0, t2-t1], ... [0, t_n - t_(n-1)]. Do not use both.
• To plot the trajectory use st.plot_traj(). If you used st.traj(w), you will get a smooth trajectory. If you used st.traj_stepwise(w), the trajectory will be discontinues at each waypoint
• To output the optimization coefficients to a csv file use st.output_csv('<file_name>'). The csv file will appear in quadrotor_trajectory/scripts