Fixed-Wing-Aerial-TrajOpt

Repository associated with IROS 2021 submission " Embedded Hardware Appropriate Fast 3D Trajectory Optimization for Fixed Wing Aerial Vehicles by Levereging Hidden Convex structures"

Codes will start appearing here from Monday 14th March

Running our custom optimizer

• Navigate to the ourOptimizer_50steps or ourOptimizer_100steps folder and edit configuration details in config.yaml file.
• In config.yaml file, entering psi_init as 0.2 indicates 0.2pi in main code.
• Run the following command g++ main.cpp FWV_optim.cpp $(pkg-config --cflags --libs yaml-cpp) -o test -O2 followed by ./test
• To visualize, run gnuplot graph.plt
  How to change steps (Edit global variable num in main.cpp file)

Running generated ACADO code

• Navigate to any of the config folder and run make clean all followed by ./test.
  Note: Only for the first time do make clean all otherwise just make

Configuration taken for Comparison

Config No.	x	y	z	psi (*pi)	xg	yg	zg	planning time	steps
1	5	130	30	0	120	40	10	13.8	50
2	5	130	30	0	120	40	10	13.8	100
3	5	130	30	-0.2	120	40	10	13.8	50
4	5	130	30	-0.2	120	40	10	13.7	100
5	-30	-10	30	0.2	130	138	40	18.3	50
6	-30	-10	30	0.2	130	138	40	18.3	100
7	-30	-10	30	0	130	138	40	19.3	50
8	-30	-10	30	0	130	138	40	19.3	100
9	-30	-10	30	0.33	130	138	40	18.4	50
10	-30	-10	30	0.33	130	138	40	18.3	100
11	-30	-10	30	0.5	130	138	40	18.6	50
12	-30	-10	30	0.5	130	138	40	18.6	100
13	-30	-10	30	-0.2	130	138	40	19.5	50
14	-30	-10	30	-0.2	130	138	40	19.5	100
15	5	130	30	0.2	120	40	10	13.9	50
16	5	130	30	0.2	120	40	10	14	100
17	5	130	30	-0.33	120	40	10	12.9	50
18	5	130	30	-0.33	120	40	10	12.9	100
19	5	130	30	-0.45	120	40	10	13.4	50
20	5	130	30	-0.45	120	40	10	13.4	100

For each planning time and steps acado code was generated.

Generating ACADO code

• Install ACADO Toolkit
• Copy getting_started.cpp from acadoOptim folder and paste it to /ACADOtoolkit/examples/code_generation/mpc_mhe.
• Edit getting_started.cpp for desired settings (steps, planning time).
• Navigate to ACADOtoolkit/build and run make code_generation_getting_started.
• Finally run ./code_generation_getting_started in folder /ACADOtoolkit/examples/code_generation/mpc_mhe.