This repository contains sample code in MATLAB for minimum snap trajectory planning described in https://blog.csdn.net/q597967420/article/details/76099491. This README provides a brief overview of our trajectory generation utilities with some examples.
Chinese Docs
- Minimum Snap轨迹规划详解（1）轨迹规划入门.pdf
- Minimum Snap轨迹规划详解（2）corridor与时间分配.pdf
- Minimum Snap轨迹规划详解（3）闭式求解.pdf
- Minimum Snap轨迹规划详解（4）guiding trajectory.pdf
- MATLAB(R2013a is tested)
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
The source code is released under GPLv3 license.
Any problem, please contact maoshuyuan123@gmail.com