Trajectory Optimization based on Subdivison

This is the opensource reference implementation of the ICRA 2021 paper Robust & Asymptotically Locally Optimal UAV-Trajectory Generation Based on Spline Subdivision.

Dataset

Here is environment meshes data and initial trajectories data in our paper.

• Data

Installation

via CMake

Our code was originally developed on Ubuntu 16.04. We provide the commands for installing our project in Ubuntu 16.04:

• Clone the repository into your local machine:

git clone https://github.com/ruiqini/traj-opt-subdivision.git

• Compile the code using cmake (default in Release mode):

cd traj-opt-subdivision
mkdir build
cd build
cmake ..
make

Usage

Input data

Extract compressed data file, there are three folders inside: Config file/ init/ mesh/. Config file/3D.json saves input parameters in paper. init/name_init.txt saves initial trajectory of input environment mesh name. mesh/name saves input environment mesh name, for example name=bridge.stl.

Run command

Move folders Config file/ init/ to build/, move all environment meshes to build/. Run commands:

cd build
mkdir result
./debugPathPlanning3D 3D.json name

Press , to run optimization. Result information will be saved in result/.