CMPS 261 Data Visualization Fall 2020

Shengjie Zhang, University of California Santa Cruz, Computer Engineering

Visualize an algorithm for planning trajectory

abstract

There is extensive literature on using convex optimization to derive piece-wise polynomial trajectories for controlling differential flat systems with applications to three-dimensional flight for Micro Aerial Vehicles.In this work, I use matlab to realize algorithms in paper[1] "Planning Dynamically Feasible Trajectories for Quadrotors Using Safe Flight Corridors in 3-D Complex Environments". [1] has three parts, the first part is path planning using Jump Point Search(JPS).The second part of [1] is Safe Flight Corridor Construction. The third part of [1] is Trajectory Optimization, which is a convex optimizaiton problem. Due to the limitation of length of [1], many detail of implementation of algorithms are not mentioned in [1]. In this report, details and theories about each steps of im- plementation in [1] will be given. In addition, 3-D simulation and visualization will be provided to illustrate how to realize each part of [1]. In the result part, I compared the results using algorithms in this paper with using close form.