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minimum snap trajectory planning in MATLAB

This repository contains sample code in MATLAB for minimum snap trajectory planning described in https://blog.csdn.net/q597967420/article/details/76099491. This README provides a brief overview of our trajectory generation utilities with some examples.

Chinese Docs

  • Minimum Snap轨迹规划详解（1）轨迹规划入门.pdf
  • Minimum Snap轨迹规划详解（2）corridor与时间分配.pdf
  • Minimum Snap轨迹规划详解（3）闭式求解.pdf
  • Minimum Snap轨迹规划详解（4）guiding trajectory.pdf

Required

  1. MATLAB(R2013a is tested)

How to run

There are 4 demo codes in 2D space, you can directly run these and see results.

  • demo1: minimum snap trajectory planning with waypoints strong constrants(equality constraints).
  • demo2: minimum snap trajectory planning with corridor constraints(iequality constraints).
  • demo3: minimum snap trajectory planning with waypoints strong constrants by close form solution.
  • demo4: minimum snap trajectory planning with guiding path

Licence

The source code is released under GPLv3 license.

Any problem, please contact [email protected]