idawatibustan / uav_pathplanning

Implementation of path planning and trajectory algorithm for Unmanned Aerial Vehicle

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