songjiahuan / minimum_snap_trajectory_generation

easy sample code for minimum snap trajectory planning in MATLAB

minimum snap trajectory planning in MATLAB

This repository contains sample code in MATLAB for minimum snap trajectory planning described in http://blog.csdn.net/q597967420/article/details/73647190. This README provides a brief overview of our trajectory generation utilities with some examples.

Required

1. MATLAB(R2013a is tested)

How to run

There are 4 demo codes in 2D space, you can directly run these and see results.

• demo1: minimum snap trajectory planning with waypoints strong constrants(equality constraints).
• demo2: minimum snap trajectory planning with corridor constraints(iequality constraints).
• demo3: minimum snap trajectory planning with waypoints strong constrants by close form solution.
• demo4: minimum snap trajectory planning with guiding path

Licence

The source code is released under GPLv3 license.

Any problem, please contact [e-mail]