ISAC-Sim

Dynamic Gate Optimization

Real-time perception and trajectory replanning for UAVs flying through moving gates using MINCO.

Experiment Steps

  1. High Speed Flight: UAV flies through random gates
  2. Dynamic Replanning: Real-time adjustment for moving gates
  3. L-BFGS Time Optimization: Segment durations optimized for energy efficiency

Simulation Experiment

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Parameters(Real-time)
Num Gates5
Gate Speed0.5 m/s
Max Speed5 m/s

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

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