This project implements shifting planar inequality constraints for 3D obstacle avoidance as formulated here:
- P. T. Jardine, S. Givigi, and S. Yousefi, Planar Inequality Constraints for Stable, Collision-free Model Predictive Control of a Quadcopter , IFAC-PapersOnLine, Volume 50, Issue 1, July 2017, Pages 9095-9100
Figure 1 provides an illustration of it working.
Figure 1 - Obstacle Avoidance using Shifting Planar Inequality Constraints