koksyuen / fuxi-planner

It is a global computational efficient path planner for UAVs, now it can work perfectly in the Gazebo simulation environment. It can work with the default GPS positioning tools in Gazebo/PX4 and a 2D grid map which can be obtained from some mapping kit like Octomap.

FUXI：A global computational efficient path planner for UAVs

It is a global computational efficient path planner for UAVs, now it can work perfectly in the Gazebo simulation environment. It can work with the default GPS positioning tools in Gazebo/PX4 and a 2D grid map which can be obtained from some mapping kit like Octomap.

Pre-request package

pip install -U scikit-learn
pip install pymavlink

cd /fuxi-planner/launch

./st_start.sh (start the planning demo with ccmapping)

After the UAV takeoff or reach its goal, you have 3 seconds to publish the next goal, or it will land on the ground.