# uav_trajectory_optimizer_gurobi

**Repository Path**: gchasing/uav_trajectory_optimizer_gurobi

## Basic Information

- **Project Name**: uav_trajectory_optimizer_gurobi
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: BSD-3-Clause
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2024-01-18
- **Last Updated**: 2024-01-18

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Trajectory Optimization for Multirotors using Gurobi #

Authors: Parker Lusk and Jesus Tordesillas (equally contributed)

This repo has the code implemented for the project of Underactuated Robotics (6.832) at MIT. 
The pdf is available [here](https://github.com/jtorde/uav_trajectory_optimizer_gurobi/blob/master/Trajectory_Optimization_for_Multirotors.pdf). 

Flip in roll               |  Flip in pitch            |  Flip in roll with translation | Half-flip with translation
:-------------------------:|:-------------------------:|:-------------------------:|:-------------------------:
![](./imgs/flip.png)       |  ![](./imgs/flip_pitch.png)  |  ![](./imgs/flip_trans.png) |  ![](./imgs/window.png) 

## Citation
When using this code, please cite the following paper:

```bibtex
@techreport{luskjtorde2019,
     title = {{Trajectory Optimization for Multirotors}},
     author = {Parker Lusk and Jesus Tordesillas},
     year = {2019},
     url = {https://github.com/jtorde/uav_trajectory_optimizer_gurobi},
     institution = {Aerospace Controls Lab},
     month = {05}
}
```

## Introduction
It uses an integrator model of any order, and solves the optimal control problem to minimize the input squared. The order of the input is specified by the user (Acceleration, Jerk, Snap, Crackle,... ). Additional position and/or attitude constraints can be specified along the trajectory. 



A video of the simulation and hardware experiments is available here:

[![Trajectory Optimization for Multirotors](./imgs/frozen.png)](https://www.youtube.com/watch?v=WnfzMO0pXsc "Trajectory Optimization for Multirotors") 


## Instructions
Install [Gurobi](http://www.gurobi.com/)  

Clone this repository:
```
mkdir ws && cd ws && mkdir src && cd src
git clone https://github.com/jtorde/uav_trajectory_optimizer_gurobi.git
```

Source the workspace:
```
cd ..
catkin build
source ./devel/setup.bash
```


Run the ROS node:
```
roscore
rosrun project flipper.py __ns:=SQ01s
```
Open Rviz and then call one of these services:

```
rosservice call /SQ01s/line       #Straight line
rosservice call /SQ01s/flip       #Flip in roll 
rosservice call /SQ01s/flip_pitch #Flip in pitch  
rosservice call /SQ01s/flip_trans #Flip in roll with translation
rosservice call /SQ01s/window     #Half-flip with translation
```

## Use with an external simulator or hardware
This code can also be used with an external simulation, or run onboard a real UAV. 


## License
BSD 3-Clause, see License file attached