ISAC-Sim

MINCO Trajectory Planning

Optimal trajectory planning using MINCO (Minimum Control) for UAVs in complex environments.

Experiment Steps

  1. Complex Environment: Simulate dense obstacle environment
  2. MINCO Planning: Observe smooth trajectory generation in narrow gaps
  3. L-BFGS Optimization: Time allocation optimized using L-BFGS

Simulation Experiment

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Parameters(Real-time)
Obstacle Density30
Max Speed6 m/s

Functions: models.planning.optimalTrajectoryBehavior, models.numeric.generateOptimizedTrajectory, models.numeric.lbfgsOptimize, models.planning.generateMinimumSnapTrajectory, models.planning.evaluateTrajectory, models.planning.generateSafeFlightCorridor, models.planning.aStarPathPlanning, models.sensing.generateRandomPolygonObstacles