Kinodynamic planning algorithm to compute ornithopters trajectories that minimize energy consumption. A nonlinear dynamic model is used together with a tree-based heuristic search for trajectory planning.
Details of the algorithm and the benchmark experiments can be seen in the publication:
Kinodynamic Planning for an Energy-Efficient Autonomous Ornithopter. F. Rodriguez, J. M. Diaz-Bañez, E. Sanchez-Laulhe, J. Capitan and A. Ollero.
Requirements:
- Python 3.X
- Numpy/Scipy
- Treelib
- Matplotlib (optional)
Usage:
Run the main program with the "-default" option to perform a random simulation of the planning algorithm.
Run the main program without any options to perform a simulation with a specific start and final state. The program will ask these and additional parameters.