BIT-KAUIS / Fast-fly

Efficient and Robust Time-Optimal Trajectory Planning and Control for Agile Quadrotor Flight

Paper: Efficient and Robust Time-Optimal Trajectory Planning and Control for Agile Quadrotor Flight

video

Instructions

1. Install ros noetic
2. Setup the ros workspace: ~/fast_fly_ws
3. Install CasADi python package: pip3 install casadi
4. Clone this repository into ~/fast_fly_ws/src
5. Clone the repository https://github.com/ZhouZiyuBIT/px4_bridge.git into ~/fast_fly_ws/src for simulation
6. Compile: run catkin_make in ~/fast_fly_ws
7. Run the example with roslaunch fast_fly fast_fly_sim.launch

This will run the time-optimal planning and tracking in the simulation: