Btraj

1.Introduction

Btraj is an online UAV plannning framework used to generate safe, dynamically feasible trajectories in previous unknown environemnts. It can be divided as front-end path finding module and back-end trajectory optimization module. In the front-end, we provide two alternates: Fast Marching*(FM*) on a velocity field and A* on a pure grid map. A flight corridor conststs of cubes are generated based on the path. In the back-end, we utilize properties of Bezier curve to confine the piecewise Bezier curves entirely within the corridor and dynamical limits.

Authors:Fei Gao and Shaojie Shen from the HUKST Aerial Robotics Group.

Disclaimer

This is research code, any fitness for a particular purpose is disclaimed.

Related Paper

• Online Safe Trajectory Generation For Quadrotors Using Fast Marching Method and Bernstein Basis Polynomial, Fei Gao, William Wu, Yi Lin and Shaojie Shen

Video of this paper can be found:

If you use this planning framework for your academic research, please cite our related paper.

@inproceedings{Fei2018ICRA,
	Address = {Brisbane, Australia},
	Author = {F. Gao and W.Wu and Y. Lin and S. Shen},
	Booktitle = {Online Safe Trajectory Generation For Quadrotors
Using Fast Marching Method and Bernstein Basis Polynomial},
	Title = {Proc. of the {IEEE} Intl. Conf. on Robot. and Autom.},
	Month = May,
	Year = {2018}}
}

2.Prerequisities

• Our testing environment: Ubuntu 16.04, ROS Kinetic.
• We provide a simple simulation to test the code. To run the simulation, you should install armadillo, which is a c++ linear algebra library. Then clone and compile plan_utils, which contains several ROS-package used for running the simulation.

  sudo apt-get install libarmadillo-dev
  cd ~/catkin_ws/src
  git clone https://github.com/HKUST-Aerial-Robotics/plan_utils.git
  cd ../
  catkin_make
  source ~/catkin_ws/devel/setup.bash

3.Build on ROS

Clone the repository to your catkin workspace and catkin_make. For example:

  cd ~/catkin_ws/src
  git clone https://github.com/HKUST-Aerial-Robotics/Btraj.git
  cd ../
  catkin_make
  source ~/catkin_ws/devel/setup.bash

4.Install Mosek

4.Usage

6.Acknowledgements

We use mosek for solving quadratic program(QP), fast_methods for performing general fast marching method and sdf_tools for building euclidean distance field.

7.Licence

The source code is released under GPLv3 license.

8.Notes

• The code has not been deeply tested, if you find any problems, do not hesitate to raise a issue or write e-mail to me directly.
• The code is written for research purpose and has not been fully optimized. In the future I will add more functionalities and improve efficiency, and also add more comment.

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