![]() ![]() ![]() Verte圎numeration3D: Highly Efficient Vertex Enumeration for 3D Convex Polytopes (Outperforms cddlib in 3D).SDLP: Seidel's Algorithm on Linear-Complexity Linear Programming for Computational Geometry.A variety of applications powered by GCOPTER or MINCO are not listed here, such as visibility-aware aerial tracking, and planning with nonlinear drag effects, etc.Formation Keeping Planning: youtube or bilibili.Gaze Teleoperation Planning: youtube or bilibili.Long-Distance Drone Racing Planning: youtube or bilibili. ![]() ( Reported by IEEE Spectrum Website!) Code Multicopter Swarms Planning: youtube or bilibili.High-Speed FPV Flight Planning: youtube or bilibili.Robust Real-Time SE(3) Planning: youtube or bilibili.If you only wants a point-mass model to achieve a faster computing, please modify the penalty-functional-relevant code. Physical parameters in standard units are all modifiable in a config file. Corridor and trajectory generation are computed in real-time. The magnitudes for some of them are shown in the rqt_plot. Some states for trajectories, like net thrust, tilt angle, body rate are all available. The solution trajectory considers spatial-temporal optimality and vehicle dynamics with drag effects. You can repeat choosing the start and goal to trigger the global planning. The angle between the arrow of 2D Nav Goal and positive x-axis (red axis) decides the relative height. Please follow the gif below for global trajectory planning in a random map. Paper: Geometrically Constrained Trajectory Optimization for Multicopters, Zhepei Wang, Xin Zhou, Chao Xu, and Fei Gao, IEEE Transactions on Robotics ( T-RO), Regular Paper.Īfter conduct the command, you will see the windows for rviz and rqt_plot. Thank you!Īuthor: Zhepei Wang and Fei Gao from ZJU FAST Lab. ![]() If our repo helps your academic projects, please cite our paper. Plan - More examples are on the way, including uniform MINCO (s=2,3,4), trajectory generation for tube-shaped and sphere-shaped corridors, local replanner, whole-body SE(3) planner, interfaces for external constraints, augmented Lagrangian, and so on. Add code links for all projects powered by MINCO. Released a doc to detail differential flatness for multicopters under nonlinear drag effects. Released non-uniform MINCO for s=2 and s=4. Modules for trajectory optimization, quadcopter dynamics with nonlinear drags, fast iterative region inflation for corridor generation, non-uniform MINCO (s=3), etc., are released. JReleased my thesis in chinese with detailed and up-to-dated methodology about corridor generation, multicopter dynamics, trajectory planning, and so on.Ī minimal but non-trivial example for global kinodynamic planning is released. User-defined state-input constraints for dynamics involving nonlinear drag effects are supported. GCOPTER is an efficient and versatile multicopter trajectory optimizer built upon a novel sparse trajectory representation named MINCO. ![]()
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