ruiqini / traj-opt-admm

Robust Multi-Robot Trajectory Optimization Using Alternating Direction Method of Multiplier

This repository is the official implementation of Robust Multi-Robot Trajectory Optimization Using Alternating Direction Method of Multiplier.

Installation

To install our code:

• Clone the repository into your local machine:

git clone https://github.com/ruiqini/traj-opt-admm.git

• Compile the code using cmake (default in Release mode):

cd traj-opt-admm
mkdir build
cd build
cmake ..
make

Data

You can download our dataset here:

• Data. Extract file in build/ folder.

Extract compressed data file, there are four folders inside: Config_file/, init/, model/, result/, put these folders in build/ folder. Config_file/3D.json saves input parameters in paper. init/name_init.txt saves initial trajectory of input point cloud name. model/single/name model/multiple/name saves input environment point cloud name, for example name = bridge.obj.

Usage

Run commands for single UAV:

./admmPathPlanning3D bridge.obj

Run commands for multiple UAVs:

./multiPathPlanning3D cross.obj

Result information will be saved in result/.