LASER UAV Planners

This package provides C++ classes that implement trajectory and motion planning algorithms for the Laser UAV System (LUS). It generates safe, optimized paths.

Overview and Algorithms

The main objective of this package is to receive a goal and, based on the vehicle's current state, generate a smooth trajectory.

Agile Planner

• Description: A class that use an optimal motion planning algorithm modified for our specific use case. It uses a point-of-mass model [PMM] with thrust constraints to incorporate vehicle limitations while remaining lightweight enough for real-time computation.

• Reference: K. Teissing, M. Novosad, R. Penicka and M. Saska, "Real-Time Planning of Minimum-Time Trajectories for Agile UAV Flight," in IEEE Robotics and Automation Letters, vol. 9, no. 11, pp. 10351-10358, Nov. 2024, doi: 10.1109/LRA.2024.3471388.

• Configurable Parameters:

  agile_planner:
    multirotor_parameters:
      # This is a = F / M. F is maximum total thrust available
      max_accel: 30.0 
  
      # This is the maximum speed
      max_vel: 16.0
  
      # This is default speed to goto
      default_vel: 1.0
      
      absolute_maximum_angular_accel: 5.0 # rad/s²
  
    ltd_opt:
      use_drag: false
      thrust_decomp_acc_precision: 0.01
      thrust_decomp_max_iter: 20
  
    first_vel_opt:
      alpha: 10.0
      alpha_reduction_factor: 0.2
      alpha_min_threshold: 0.001
      max_iter: 30
  
    second_vel_opt:
      run: true
      alpha: 35.0
      alpha_reduction_factor: 0.1
      alpha_min_threshold: 0.01
      max_iter: 10
  
    time:
      dt_precision: 0.001
      sampling_step: 0.0095 # DON'T CHANGE