# uav_trajectory_optimizer

**Repository Path**: giteewpu/uav_trajectory_optimizer

## Basic Information

- **Project Name**: uav_trajectory_optimizer
- **Description**: !基于多逼真度模型的未知环境下实时路径规划:Efficient C++ solver to generate trajectories for UAVs
- **Primary Language**: Unknown
- **License**: BSD-3-Clause
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 1
- **Created**: 2025-05-27
- **Last Updated**: 2025-05-27

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Trajectory Optimizer for UAVs #

Two videos of the trajectories generated by these solvers are available here:

Video 1                    |  Video 2
:-------------------------:|:-------------------------:
[![ICRA 2019: Real-Time Planning with Multi-Fidelity Models for Agile Flights in Unkonwn Environments](https://img.youtube.com/vi/E4V2_B8x-UI/0.jpg)](https://www.youtube.com/watch?v=E4V2_B8x-UI "ICRA 2019: Real-Time Planning with Multi-Fidelity Models for Agile Flights in Unkonwn Environments")  |  [![Trajectory Generation for UAVs using CVXGEN](https://img.youtube.com/vi/VX9n68GTqRQ/0.jpg)](https://www.youtube.com/watch?v=VX9n68GTqRQ "Trajectory Generation for UAVs using CVXGEN")

## Citation

When using this code, please cite the paper **Real-Time Planning with Multi-Fidelity Models for Agile Flights in Unknown Environments** (ICRA 2019) ([pdf](https://arxiv.org/abs/1810.01035), [video](https://www.youtube.com/watch?v=E4V2_B8x-UI)):

```bibtex
@inproceedings{tordesillas2019real,
  title={Real-time planning with multi-fidelity models for agile flights in unknown environments},
  author={Tordesillas, Jesus and Lopez, Brett T and Carter, John and Ware, John and How, Jonathan P},
  booktitle={2019 International Conference on Robotics and Automation (ICRA)},
  pages={725--731},
  year={2019},
  organization={IEEE}
}
```


## Introduction:

This is a highly efficient solver to generate trajectories for UAVs. It's basically a C++ wrapper for the C code generated by CVXGEN to solve the optimization problem to generate trajectories for UAVs. 

It includes three solvers to solve for:

* **Velocity-Controlled Trajectories**: State is position.
* **Acceleration-Controlled Trajectories**: States are position and velocity.
* **Jerk-Controlled Trajectories**: States are position, velocity and acceleration,


## Instructions:
Clone this repository:
```
git clone https://github.com/jtorde/uav_trajectory_optimizer.git
```
Now compile the cvxgen code: By default, the compiler will use the option `-Os` for the CVXGEN code. If you want the maximum performance, change it to `-O3` in the Makefile inside the folders cvxgen_*
```
cd uav_trajectory_optimizer
chmod +x setup.sh 
./setup.sh
```
Then compile the c++ wrapper:

```
catkin config -DCMAKE_BUILD_TYPE=Release
catkin build
```

And finally execute the example:
```
./build/cvx/cvx_exec
```

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