Simple 2D implement of the paper "Planning Dynamically Feasible Trajectories for Quadrotors Using Safe Flight Corridors in 3-D Complex Environments".
This repo only aims to help to better understand the paper "Planning Dynamically Feasible Trajectories for Quadrotors Using Safe Flight Corridors in 3-D Complex Environments".
This repo include three modules:
jps.py is the implement of the Jump Point Search (JPS) algorithm.
convex_decomp.py is the implement of the convex decompose according to a given path.
trajectory_optmization.py is the implement of the trajectory optimization. The trajectory is a piece-wise bezier curve and the optimization solver is osqp.