# SimplePlanner

**Repository Path**: gchasing/SimplePlanner

## Basic Information

- **Project Name**: SimplePlanner
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-05-10
- **Last Updated**: 2025-05-10

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# SimplePlanner

Simple 2D implement of the paper "Planning Dynamically Feasible Trajectories for Quadrotors Using Safe Flight Corridors in 3-D Complex Environments".

![Figure_1](https://github.com/flztiii/SimplePlanner/assets/20518317/2f69f54d-410c-457e-85da-5737f74196cd)

## Info

This repo only aims to help to better understand the paper "Planning Dynamically Feasible Trajectories for Quadrotors Using Safe Flight Corridors in 3-D Complex Environments".

## Modules

This repo include three modules:

jps.py is the implement of the Jump Point Search (JPS) algorithm.

convex_decomp.py is the implement of the convex decompose according to a given path.

trajectory_optmization.py is the implement of the trajectory optimization. The trajectory is a piece-wise bezier curve and the optimization solver is osqp.