Trajectory Generator by Unconstrained QP Method

Before Start

• Install ROS Kinetic
• Install Matlab 2018a and Robotic Tool Box

Step 1: Launch Rviz

Drag interactive marker to desired position.

Step 2: Run generator on Matlab

Open main.m and run. The matlab program will read marker position as a series of vias, and generate a continuous trajectory passing these vias.

Step 3: Play generated trajectory on Rviz

Reference

[1] D. Mellinger and V. Kumar. Minimum snap trajectory generation and control for quadrotors. In Proc. Int. Conf. on Robotics and Automation, 2011.

[2] C. Richter, A. Bry and N. Roy, Polynomial Trajectory Planning for Aggressive Quadrotor Flight in Dense Indoor Envrionments. In Proc. Int. Symposium of Robotics Research(ISRR 2013).