# uav_trajectory_planning

**Repository Path**: YorkYoung/uav_trajectory_planning

## Basic Information

- **Project Name**: uav_trajectory_planning
- **Description**: 基于批量生成树和梯度优化算法的无人机轨迹规划
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 2
- **Forks**: 0
- **Created**: 2024-07-04
- **Last Updated**: 2025-07-21

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# uav_trajectory_planning

## 介绍
基于批量生成树和梯度优化算法的无人机轨迹规划

## 安装教程

#### 1.  测试环境
  **Ubuntu** 18.04 和 **ROS** melodic
#### 2.  prometheus_px4和prometheus_mavros
  根据Prometheus官方文档第2.1.2和2.1.3小节安装

  详见: [wiki](https://wiki.amovlab.com/public/prometheus-wiki/%E5%BF%AB%E9%80%9F%E4%B8%8A%E6%89%8B/Prometheus%E4%BB%BF%E7%9C%9F%E7%8E%AF%E5%A2%83%E9%85%8D%E7%BD%AE_Ubuntu/prometheus_px4%E9%85%8D%E7%BD%AE.html).
#### 3.  nlopt
  算法使用nlopt进行数值优化

  详见: [nlopt](https://nlopt.readthedocs.io/en/latest/).
  安装步骤: 
  ```
  mkdir build
  cd build
  cmake ..
  make
  sudo make install
  ```
#### 4. 编译本仓库代码
```
  cd uav_trajectory_planning/
  ./compile_planning.sh
```
## 使用说明

#### 1.  运行无人机仿真
  进入脚本所在目录
```
  cd uav_trajectory_planning/Scripts/simulation/motion_planning/
```
  修改traj_with_global_pcl.sh中的文件路径
```
  ./traj_with_global_pcl.sh
```

## 注意事项
  参考user_opensource.md

## 参考文献
1. * Batch Informed Trees (BIT*): Sampling-based optimal planning via the heuristically guided search of implicit random geometric graphs, Jonathan D. Gammell, Siddhartha S. Srinivasa and Timothy D. Barfoot
2. * Gradient-Based Online Safe Trajectory Generation for Quadrotor Flight in Complex Environments, Fei Gao, Yi Lin and Shaojie Shen