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Quadrotor Path Planning with OMPL

asked 2012-01-28 21:24:49 -0600

jwrobbo gravatar image

updated 2014-01-28 17:11:12 -0600

ngrennan gravatar image

I am trying to find a way to do 3D path planning for a quadrotor. This is a custom built quadrotor that will be controlled using mavlink (hopefully!) so not one of the ones already documented on this site. The only info I can find on 3d path planning seems to be for jointed arms on a fixed base (PR2 or similar). Is there any way I could use the 3D_navigation stack or even arm_navigation stack and adapt it for a quadrotor somehow? I have found a URDF quadrotor model in the asctec_drivers stack so was wondering if this would be useful at all.

I am using a kinect+RGBDSLAM to give a position estimate and an octomap of the surroundings. Ultimately I'd like to be able to visualise the quadcopter in RViz and set position goals, and for a collision free path to be planned.

Any advice would be greatly appreciated.


Cambridge University Quadrotor Project

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answered 2013-03-19 16:30:02 -0600

Herick gravatar image

Maybe you know already this, but...recently prof. Roy et. al have been published a article about the Quadrotor planning. The paper calls "Polynomial Trajectory Planning for Quadrotor Flight" (I can't post links yet)

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I m reading that paper and I find it very interesting. Did you know whether those functions have been already implemented in ROS? Thanks

Andromeda gravatar image Andromeda  ( 2014-08-24 07:17:34 -0600 )edit

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Asked: 2012-01-28 21:24:49 -0600

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Last updated: Mar 19 '13