lenashengzhen / aerialrobotics

Simulate the path planning and trajectory planning of quadrotors/UAVs.

aerialrobotics's Issues

Question

Ellipsoid.m 第24行是不是应该开根号呢

no modle trajectory_generator

no modle trajectory_generator

Question for SFC3D

作者您好，关于SFC3D部分，我有一些问题想跟您请教：

1. 在LineSegment.m函数中，第39-42行的含义您能讲解一下吗？我所理解的是在第38行中dir是直线的方向向量，而39行中的dir_h应该是切平面的法向量，它应该是平行于dir的？并且切点pp1等应该是 最大椭球与障碍物相切的切点，为什么要用例如第46行这样的表达去计算呢？
2. 在LineSegment.m函数中，第89-140行应该是将初始椭球体进行压缩的过程，而在第94-97行，122-125行中是计算y和z轴的压缩，但是我并没有看懂为什么要这样去做？您方便提供一下原理图或者资料吗？

Maybe my proj interest you since most of these methods does not really solve the problem.

I found your repo interesting, especially its corridor generation.
If your are interested in them, maybe you can see my repo:

https://github.com/ZJU-FAST-Lab/GCOPTER

and especially, an self-developed alg for corridor generation:

https://github.com/ZJU-FAST-Lab/GCOPTER/blob/main/gcopter/include/gcopter/firi.hpp

By the way, firi.hpp is actually outdated, my paper about FIRI alg will be released in two month, which solves a lot of problems in the corridor-generation topic. However, even if the currently released code is outdated, it still outperforms all existing methods in corridor generation. Hope it attracts you.

Questions about trapezoidal speed_time allocation

Hello, can you provide an explanation of trapezoidal speed time allocation in trapezoidalSpeed_ta.m? Looking forward to your reply.

Hello, I can't find the Trajectory Planning Project

Hello, I can't find the Trajectory Planning Project.
Could you tell me where it is, please
Looking forward to your reply.

no function trajectory_generator

Question about JPS-3D

Hi, Lena. I have read the JPS part of your paper, TRAJECTORY PLANNING BASED ON OPTIMIZED JUMP POINT SEARCH RESULTS USING ARTIFICIAL POTENTIAL FIELD IN 3-D ENVIRONMENTS. In this part, you explain the situation about the straight move in 3D space of JPS. It's understandable and clear. I have read a similar paper, JPS Algorithm Adaptation and Optimization to Three-dimensional Space written by Pertti Ranttila and Kesäkuu. 2019, who explains the one-axis, two-axis, three-axis situations. But I was confused by some question when I wanted to calulate the natural neighbor in two-axis situation.
In JPS Algorithm Adaptation and Optimization to Three-dimensional Space

In Planning Dynamically Feasible Trajectories for Quadrotors using Safe Flight Corridors in 3-D Complex Environments

They all prune the top layer and bottom layer in the 3x3 cubic in two-axis situation. However, according to the definition of the natural neighbor,

Straight Moves:
Diagonal Moves:

I found that start from the grey voxel, the cost that I go through the blue voxel and reach the voxel whose cost is sqrt(3) (you can image the corner voxels at the top or bottom layer) is the same as the cost that I go through the voxel that is direct above or below the blue voxel and reach the corner voxels. Why those two voxels cannot be the natural neighbor ? Those two voxels cannot be pruned according to the pruning policy (If my assumption is correct).

Question regarding 3D JPS

Hi, Firstly i would like to say that your implementation of JPS in 3D world is great!
I would like to request if you have any write up on how you implemented the JPS in 3D world?
Thanks, and best regards.

about jps-2d

怎样构建一个2d地图下的JPS算法，它和3D哪里不同，怎样表达当前节点和父节点的方向呢？

Hello, I can't find dijkstra and astar

Hello, I can't find dijkstra and astar.
Could you provide them？
Looking forward to your reply.