AerialRobotics

Introduce on Wiki

New feature schedule on projects

Bug and issue tracking on projects

This repo includes matlab code for:

• Path planning algorithms (Dijkstra, Astar, Jump point search)
• Generating Convex Polytopes(Safe Flight Corridors, IRIS-wait, ?-wait)
• Trajectory planning(QP)
• Trajectory following control(PD controller)

Required

MATLAB(R2019b is tested)

Pic

1. Path Planning

dijkstra	Astar	Jump Point Search
1.642271 seconds	0.755504 seconds	0.451664 seconds

2. Generating Convex Polytopes

Safe Flight Corridors

• find_ellipsoid

  

• find_polyhedron

3. Trajectory planning

Compare different Trajectory planning：

• Trajectory 1: use Ax = b get Trajectory.

The Trajectory pass every Path point.

• Trajectory 2: use 'Quadratic Programming' get Trajectory. use 'corridor constraints' make Ax< b.

The Trajectory don't need to pass every Path point.

minSnapValue(X + Y + Z) is : 9376.0901

• Trajectory 3: use 'Quadratic Programming' get Trajectory. use SFC make Ax < b.

The Trajectory don't need to pass every Path point.

minSnapValue(X + Y + Z) is : 2958.5877

4. Trajectory following control

Trajectory following by use PD Controller, you can learn by coursera.

User mannual

• Download the matlab
• Download the code
• set map if you want try your map
• set startpoint and endpoint at runism.m
• run the code
• optionally, if you want the gif of the result, you could run makeGifAndJpg

Reference

Paper:

[1] D. Harabor and A. Grastien. 2011. "Online Graph Pruning for Pathfinding on Grid Maps". In Proceedings of the 25th National Conference on Artificial Intelligence (AAAI), San Francisco, USA.

[2] S. Liu, M. Watterson, K. Mohta, K. Sun, S. Bhattacharya, C.J. Taylor, et al., "Planning dynamically feasible trajectories for quadrotors using safe flight corridors in 3-d complex environments", IEEE Robotics and Automation Let- ters, vol. 2, no. 3, pp. 1688-1695, July 2017.

[3] D.W.Mellinger,"Trajectory generation and control for quadrotors"Ph.D. dissertation, Univ. Pennsylvania, Philadelphia, PA, 2012.

[4] D. Mellinger and V. Kumar, "Minimum snap trajectory generation and control for quadrotors", inProc. 2011 IEEE Int. Conf. Robot.Autom.,2011

[5] T. Lee, M. Leoky, and N. H. McClamroch, "Geometric tracking control of a quadrotor UAV on SE (3)" in Proc. 49th IEEE Conf. Decis. Control. IEEE, 2010, pp. 5420–5425.

Code:

https://github.com/sikang/DecompUtil

https://github.com/symao/minimum_snap_trajectory_generation

https://github.com/yrlu/quadrotor