/vt_mpc

Accompanying code with the submission of "Variable Time-step MPC for Agile Multi-rotor UAV Interception of Dynamic Targets" to IEEE RA-L

Primary LanguagePython

VT-MPC: Variable Time-step MPC for Agile Multi-rotor UAV Interception of Dynamic Targets

This repository contains the code accompanying the submission of the manuscript titled "Variable Time-step MPC for Agile Multi-rotor UAV Interception of Dynamic Targets" to IEEE RA-L

The repository is organized as below:

  • scripts/vt_mpc_kop_planner.py: Planner module to run the VT-MPC planner for KOP in 3D. Navigate to the scripts folder and run python3 vt_mpc_kop_planner.py
  • run parameters are defined in the params file. These include dynamic constraints and planner parameters.
  • dataset files can be found here[every line contains {x} {y} {z} {reward} for a target point]

The planner module combined with a ROS interface with the MRS UAV System is used for real time planning and experiments.

Sample output

Sample run image

Dependencies

The script has been tested with Python 3.8.10 on Ubuntu 20.04