bharath2 / quadrotor-simulation Goto Github PK

Trajectory Planning and control

License: MIT License

Python 99.87% HTML 0.13%

quadrotor quadcopter quadrotor-simulation rrtstar trajectory-generation trajectory-optimization minimum-snap-trajectories motion-planning aerial-robotics simulator

quadrotor-simulation's Introduction

Quadrotor simulation

This project contains:

Informed RRT* to plan a collision free path from start to goal position in an N-dimensional Map.
A minimum snap trajectory generator. The segment times between consecutive waypoints are also optimised.
Nonlinear geometric controller for aggressive trajectory tracking and hover controller
Quadrotor Simulator

Dependencies

scipy, numpy, matplotlib, rtree-linux

Usage

Trajectory generation and control example

from TrajGen import trajGenerator, Helix_waypoints
from Quadrotor import QuadSim
import controller

waypoints = Helix_waypoints(5)

#Generate trajectory through waypoints
traj = trajGenerator(waypoints,max_vel = 10,gamma = 1e6)

#initialise simulation with given controller and trajectory
Tmax = traj.TS[-1]
des_state = traj.get_des_state
sim = QuadSim(controller,des_state,Tmax)

#run simulation
sim.run()

With Path Planning

python3 runsim.py

find out more in PathPlanning/README.md

Future Work

Adding disturbance to quadrotor model
Collision checking after trajectory generation

References

quadrotor-simulation's People

Contributors

Stargazers

Watchers

Forkers

finani dlml trcclub kws1611 mmadgit49 xkhainguyen qiruisong andeleya wujiaxu looovely palmalcheg-new gy2256 iemmessien brunopinto900 navneet-kaur21 xiongzuming

quadrotor-simulation's Issues

Constraint with respect to acceleration

In the minimum snap trajectory generation code, we put a constraint on the maximum velocity of the quadrotor. Is it possible to put a constraint on the maximum acceleration as well?

Blank screen after running runsim.py

The figure window appears but it's completely blank after running the runsim.py. I have tested on both Macbook Pro with M1 Pro and Windows PC. Is this a matplotlib version issue?

Which Method using: Constrainde QP or Unconstrained QP ?

Hello, thanks for your good work and i very appreciated.

I'm wondering, is your solution method on Constrained QP? That's what it looked like to me when I looked at your Cost Function. If so, will it be difficult to solve this problem with the Unconstrained QP Method?

Thank you for your answer.

Note: When I read the "Polynomial Trajectory Planning for Aggressive Quadrotor Flight in Dense Indoor Environments" paper i get stuck here for your code.

capi_return is NULL , numpy.linalg.LinAlgError: Singular matrix

Hello, its a nice project you are doing, thank you for sharing it with community.
When i'm using the Trajectory generation and control example on the README file everything is fine, but when i want to use RRT waypoints as input i get this error:

capi_return is NULL
Call-back cb_calcfc_in__cobyla__user__routines failed.
Traceback (most recent call last):
File "/home/ROS/Quadrotor-Simulation/runsim.py", line 56, in
traj = trajGenerator(waypoints,max_vel = 10,gamma = 1000000)
File "/home/ROS/Quadrotor-Simulation/TrajGen/trajGen.py", line 16, in init
self.optimize()
File "/home/ROS/Quadrotor-Simulation/TrajGen/trajGen.py", line 28, in optimize
T = optimize.minimize(self.get_cost,Tmin, method="COBYLA",constraints= ({'type': 'ineq', 'fun': lambda T: T-Tmin}))['x']
File "/home/ROS/.local/lib/python3.6/site-packages/scipy/optimize/_minimize.py", line 623, in minimize
return _minimize_cobyla(fun, x0, args, constraints, **options)
File "/home/ROS/.local/lib/python3.6/site-packages/scipy/optimize/cobyla.py", line 34, in wrapper
return func(*args, **kwargs)
File "/home/ROS/.local/lib/python3.6/site-packages/scipy/optimize/cobyla.py", line 262, in _minimize_cobyla
dinfo=info)
File "/home/ROS/.local/lib/python3.6/site-packages/scipy/optimize/cobyla.py", line 252, in calcfc
f = fun(x, *args)
File "/home/ROS/Quadrotor-Simulation/TrajGen/trajGen.py", line 21, in get_cost
coeffs,cost = self.MinimizeSnap(T)
File "/home/ROS/Quadrotor-Simulation/TrajGen/trajGen.py", line 40, in MinimizeSnap
invA = LA.inv(A)
File "<array_function internals>", line 6, in inv
File "/home/ROS/.local/lib/python3.6/site-packages/numpy/linalg/linalg.py", line 546, in inv
ainv = _umath_linalg.inv(a, signature=signature, extobj=extobj)
File "/home/ROS/.local/lib/python3.6/site-packages/numpy/linalg/linalg.py", line 88, in _raise_linalgerror_singular
raise LinAlgError("Singular matrix")
numpy.linalg.LinAlgError: Singular matrix

I'm using numpy-1.19.5 and scipy-1.5.4
Thanks in advanced.

How I can Change The Order Of Trajectory ???

Hello thx for your work.

When I try to change the order of trajectory I get stuck. In the get_constraints() function the indexing of Mapping Matrix A only for order = 10.
(eg. A[6n + 4i : 6n + 4(i+1), oi : o(i+1)], when o =7 , shape of A = (21,21) , indexing start at 21 then becomes (0,7) shape of array)
How we can automate this indexing ?

I couldn't understand it even though I tried really hard. I'm waiting for your help. Thank you