Path Planning for drones with cable suspended payload in cluttered spaces

Packages

1. payloadDroneNav

Contains code for planning and control for the system
Planner used is kinodynamic A* planner 
Controller is geometric control

Running the custom model

• cp -r Drone_SuspendedPayload_Navigation/tree/master/models/drone/aruco_visual_marker_7 PX4-Autopilot/Tools/sitl_gazebo/models
• cp Drone_SuspendedPayload_Navigation/tree/master/models/drone/iris_depth_camera.sdf PX4-Autopilot/Tools/sitl_gazebo/models/iris_depth_camera
• This would replace the original iris depth camera with the new model

Running the pipeline

• Terminal-1

  cd scripts

  python3 loadPose.py (publishes payload pose)

• Terminal-2

  cd launch

  roslaunch map.launch

• Terminal-3

  rosrun payloadDroneNav Planner

  When prompted 'start over ?', enter 1 or 0

• Terminal-4 (for PX4 Controller)

  rosrun payloadDroneNav Controller

  Enter delay between control points when prompted (around 0.01-0.15)

• Terminal-5 (for geometric control)

  cd src/payloadDroneNav

  cd scripts

  python3 geometricControl.py

• Demos

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