https://github.com/dehann/thermalsoaring

Dynamic replanning of sailplane trajectories for autonomous thermal soaring
https://github.com/dehann/thermalsoaring

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Dynamic replanning of sailplane trajectories for autonomous thermal soaring

• Host: GitHub
• URL: https://github.com/dehann/thermalsoaring
• Owner: dehann
• License: mit
• Created: 2014-12-04T03:59:36.000Z (almost 10 years ago)
• Default Branch: master
• Last Pushed: 2014-12-15T21:53:21.000Z (almost 10 years ago)
• Last Synced: 2023-08-12T14:27:40.372Z (over 1 year ago)
• Language: Python
• Size: 3.83 MB
• Stars: 10
• Watchers: 6
• Forks: 2
• Open Issues: 0
• Metadata Files:
  • Readme: README.rst
  • License: LICENSE

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README

        
A graduate class project in underactuated robotics -- towards long endurance flight with an unpowered glider.

Background

----------

In-situ replanning for autonomous thermal soaring.

`Video `_

Installing Flightgear

======================

Copy download_and_compile.sh into a separate dictory on your computer and run to install FG.

Copy fgstuff/cxml_cl/input_protocol.xml into the Flightgear install/fgdata/protocol directory.

Copy run_fgfs.sh into the directory of FG installation and launch from there. 

Run python and julia scripts separately.

Prerequisits

============

::

    Julia 0.3

    Python 

    NLopt

In Julia

--------

::

    Pkg.add("NLopt")

    Pkg.add("JuMP")

    Pkg.add("PyCall")

Add to bashrc

-------------

::

    export PYTHONPATH=$PYTHONPATH: bla/bla/bla/ThermalSoaring/python/

Running the processes

---------------------

There are five processes to execute:

::

    ./run_fgfs.sh

    ./python/Controller.py

    ./python/VisualizationClient.py

    ./python/StateMachine.py

    julia julia/TrajReplanner.jl