PE-Planner is a performance-enhanced quadrotor motion planner for autonomous flight in complex and dynamic environments. It is proposed to significantly improve the performance of speed, safety, and disturbance rejection capability.

Authors: Jiaxin Qiu, Qingchen Liu, Jiahu Qin, Dewang Cheng, Yawei Tian and Qichao Ma

• v1.1.2: remove node map_viewer
• v1.1.1:
  • remove node map_generator
  • remove publish_pose, publish_fanmesh, fan_ang, fanmesh_pub_
  • remove test_num, TEST
  • remove avg_avg_vel, avg_max_vel, avg_min_dist
  • remove distur_set, distur_time_total, distur_time
  • set online_replan to true
  • remove plt
• v1.1.0: Get parameters from the ROS parameter server

In simulations, it uses Gazebo as the simulator and PX4 as flight control software to achieve relatively realistic simulations. To avoid tedious configuration steps, a Docker image containing the simulation environment and PE-Planner is provided. Running the following commands to setup:

catkin_make install --source src/PE-Planner --build build/pe_planner

Simulation of the Nominal Case with Static and Dynamic Obstacles

roslaunch pe_planner simulation.launch