Generating minimum snap trajectories between waypoints for quadrotors The package has been tested on MacOS running Sierra 10.12.6
- 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
- Navigate to the
scriptsfolder:
cd <path_to_quadrotor_trajectory>/scripts
- open
min_snap_traj.pyin 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 functiontrajortraj_stepwise. - Use
st.traj(w)orst.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 usedst.traj(w), you will get a smooth trajectory. If you usedst.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 inquadrotor_trajectory/scripts