UAV Path Planning

Implementation of path planning and trajectory algorithm for Unmanned Aerial Vehicle

Dependency files

The Complete ROS packages for the simulation can be found on link below https://drive.google.com/open?id=1Hc5TFrbhHfVVUc1gprNVxWLLa-h_yjMV

Modification from dependency folder

• uav_pathplanning/src/hector_quadrotor/hector_quadrotor_reference/src/main.cpp
  • turning off motor when the robot height position = 0 after over 100 lines
  • iterate obs files to add up to 5 obstacles into the vicon room
• uav_pathplanning/src/hector_gazebo/hector_gazebo_worlds/worlds/viconRoom.world
  added unit_cylinder_4 and unit_cylinder_5 to viconRoom world file to cater up to 5 obstacles.

How To

• replace hector hector_gazebo/hector_gazebo_worlds and hector_quadrotor/hector_quadrotor_reference with the folder provided in this repo
• compile the workspace with catkin_make