fzi-forschungszentrum-informatik / top_uav_cpp

Software-Tool zur analytischen Bestimmung zeitoptimaler Trajektorien für Multikopterdrohnen unter Berücksichtigung von maximaler Geschwindigkeit und Beschleunigung.

TOP-UAV: Open-Source Time-optimal Trajectory Planner for Point-Masses under Acceleration and Velocity Constraints (C++)

top_uav_cpp is a C++ tool to generate 3-dimensional time-optimal trajectories from an initial position and velocity vector to a final position and velocity vector with constraints on the maximum velocity and acceleration for the entire motion.

To access the Python implementation see top_uav_py.

💈 Build

mkdir build
cd build
cmake ../
cmake --build . --target top_uav_cpp

🍫 Quickstart

The example in main.cpp generates time-optimal trajectories according to the state-of-the-art method as well as of our basic generally valid version as well as our version with improved exploitation of kinematic properties.

✅ Build and run tests

# in build directory
cmake --build . --target all_tests
ctest

🚀 Benchmarks

Use Release configuration. Then build the benchmarks target and run the executable.

🏫 Affiliations

Citation

If you use top_uav_cpp in your research, please consider citing our original paper.

@INPROCEEDINGS{10342270,
  author={Meyer, Fabian and Glock, Katharina and Sayah, David},
  booktitle={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 
  title={TOP-UAV: Open-Source Time-Optimal Trajectory Planner for Point-Masses Under Acceleration and Velocity Constraints}, 
  year={2023},
  volume={},
  number={},
  pages={2838-2845},
  doi={10.1109/IROS55552.2023.10342270}}