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Path Planning

• Path Planning between two points: The simPlanPath function computes a collision-free path between two points.

client = airgen.MultirotorClient()
start = airgen.Vector3r(0, 0, 5)
goal = airgen.Vector3r(10, 10, 5)
path = simPlanPath(start, goal, smooth_path=True, draw_path=True)

• Path Planning to a Random Free Point: Another functionality offered by AirGen allows for randomly sampling a free/unoccupied point and planning a path to it, which results in behaviors such as random safe exploration. This can be achieved through the simPlanPathToRandomFreePoint() function, which takes in a search radius as the main argument.

client = airgen.MultirotorClient()
search_radius = 50 # in meters
path = simPlanPathToRandomFreePoint(search_radius, smooth_path=True, draw_path=True)

start = airgen.Vector3r(0, 0, 5)
goal = airgen.Vector3r(10, 10, 5)
path = simPlanPath(start, goal, smooth_path=True, draw_path=True)
points = []
for waypoint in trajectory:
    points.append(
        airgen.Vector3r(waypoint["x_val"], waypoint["y_val"], waypoint["z_val"])
    )

# Move the drone along the planned path at a velocity of 5 m/s
velocity = 5.0
self.drone_client.moveOnPathAsync(points, velocity, 120, airgen.DrivetrainType.ForwardOnly, airgen.YawMode(False, 0), -1, 0).join()

• Navigation Extents: AirGen uses a “navigation mesh” to inform which areas of the map are navigable. It is possible to access the extents of this navigation mesh to sample points from, or to understand which parts of the map are accessible through the planning API.

nav_mesh_info = client.getNavMeshInfo()
print("Navmesh extents: {}".format(nav_mesh_info))

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