I' m looking for a trajectory generator (the algorithm doesn't matter, since I m going to write it using C++ ) that generates a trajectory (a parametric curve in space) defined point by point which is going lately to be feed into my quadrotor drivers.
I'm honest: I don't know where to start.
- Reading the following interesting answer. But the problem here is: the trajectory has a PD controller with it. My quadrotor should take just a parametric curve as input.
- OMPL: this library seems very powerful and interesting. It let the user to define a planner which many different algorithms. The problem is that it is not well documented, good examples and explanations are missing and till now I could'nt find anything related to quadrotors, which does use that library. There is an example for a quadrotor, which doesn't find my expectations and I cannot figure out, how to implement it in my package. I don't want just copy and paste code that I don't understand.
- B-Spline and Bezier Curve...and the whole family of parametric curves. I found very interesting libraries in internet that implement those algorithm directly C++. The problem here is: I can define some points in space, generate a spline that contains them and interpolate points for the PID controller in the quadrotor. The basic idea is like a dog chasing a rabbit. A point is generated from the start point of the spline and regularly sent to the quadrotor. The latter flies behind the point, trying to reach it until a goal point has been reached. What is the problem here?!? In this case I can only generate a curve based on geometric properties and not considering the dynamic and the kinematic of the quadrotor (which I would consider for a future project). The rabbit runs and has a tighter curve radius than the dog, which could result in a strange behavior of the quadrotor.
I'd like same good tips to point to the right direction.
Which kind of trajectory planner are usually developed fr such an application?