IPC: Integrated Planning and Control for Quadrotor Navigation in Presence of Suddenly Appearing Objects and Disturbances

@article{liu2023integrated,
  title={Integrated Planning and Control for Quadrotor Navigation in Presence of Suddenly Appearing Objects and Disturbances},
  author={Liu, Wenyi and Ren, Yunfan and Zhang, Fu},
  journal={IEEE Robotics and Automation Letters},
  year={2023},
  publisher={IEEE}
}

Author: Wenyi Liu, Yunfan Ren and Fu Zhang from HKU MARS Lab.

Paper: Integrated Planning and Control for Quadrotor Navigation in Presence of Suddenly Appearing Objects and Disturbances

Or see the pdf at: liu2023ipc.pdf

Code: Github

Video Links: youtube, Bilibili

Click for the video demo.

The IPC is an integrated planning and control framework for quadrotors.

The IPC's characteristic:

• Safety (Using safe flight corridor as hard constraints)
• Low latency (Can run at 100Hz)
• Strong disturbance rejection capability

Using IPC, the quadrotor can:

• Avoid suddenly appearing object
• Fly safely under disturbances (i.e., external forces and wind disturbances)
• Navigate autonomously in dense woods

Ubuntu 18.04~20.04, ROS Installation

PCL >= 1.6, follow PCL Installation

Eigen >= 3.3.4, follow Eigen Installation

fmt: Download fmt.zip at https://github.com/hku-mars/IPC/releases/tag/v0.1.

Build and install by:

mkdir build
cd build/
cmake -DBUILD_SHARED_LIBS=TRUE ..
make
sudo make install
sudo cp /usr/local/lib/libfmt.so.8 /usr/lib

• osqp-github
• osqp-document

Install OSQP (please selete the version less than 0.6.3)

git clone --recursive https://github.com/osqp/osqp
cd osqp
mkdir build
cd build
cmake ..
sudo make install

• osqp-eigen-github

Install OSQP-Eigen

git clone https://github.com/robotology/osqp-eigen.git
cd osqp-eigen
mkdir build
cd build
cmake ..
sudo make
sudo make install

A debug tool: backward.cpp

Installation

sudo apt-get install libdw-dev
wget https://raw.githubusercontent.com/bombela/backward-cpp/master/backward.hpp
sudo mv backward.hpp /usr/include

mkdir -p IPC_ws/src
cd IPC_ws/src
git clone https://github.com/hku-mars/IPC.git
cd ..
catkin_make

(1) Navigate autonomously in a simulated environment in the woods

run ipc

source devel/setup.bash
roslaunch ipc ipc.launch

run MARSIM simulator

source devel/setup.bash
roslaunch test_interface map_rc.launch

Then click on the 3D goal of rviz to select the target

(2) Benchmark: Avoid suddenly appearing object (Ideal simulation)

run ipc

source devel/setup.bash
roslaunch ipc ipc_avoid.launch

run simulator

source devel/setup.bash
roslaunch ipc fast_avoid.launch