Computationally low-cost interception trajectories for quadrocopters
Clone or download
Latest commit 9793a11 Jan 13, 2017
Permalink
Type Name Latest commit message Commit time
Failed to load latest commit information.
C++ Incorrect cost function fixed. Oct 17, 2015
Python Incorrect cost function fixed. Oct 17, 2015
COPYING.txt Initial commit. Sep 2, 2015
README.md Update README.md Jan 12, 2017

README.md

Quadrocopter trajectory generator

Mark W. Mueller (mwm@berkeley.edu)

This contains source code implementing a method for rapidly generating trajectories for quadrocopters. The two folders give implementations for both C++ code, and Python. These are equivalent, but independent of one another.

The Python code allows to quickly plot some trajectories too.

The C++ code has comments which can be compiled with Doxygen.

The algorithm is described in the following paper: M.W. Mueller, M. Hehn, and R. D'Andrea, "A computationally efficient motion primitive for quadrocopter trajectory generation," IEEE Transactions on Robotics Volume 31, no.8, pages 1294-1310, 2015.

The paper may be downloaded here.

Quickstart

If you'd just quickly like to see something running, run the file Python/demo.py This will make a plot, visualising a trajectory. You can then change the trajectory parameters, and see how this affects things.

Licensing

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.