基于PX4和ROS的无人机仿真平台

High-performance interior-point-method QP solvers

The mpc_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. It provides a generic and versatile model predictive control implementation with minimum-time and quadratic-form receding-horizon configurations.

第二章. 混合A*做路径决策，S-T图搜索做速度决策，数值求解最优控制问题做轨迹优化

Fast UAV Exploration using Incremental Frontier Structure and Hierarchical Planning