Automated Flight Route Planner

Contents

Coverage Path Planner

For elevation info see: http://opentopo.sdsc.edu/datasets?minX=11.49&minY=46.451&maxX=11.497&maxY=46.455

Papers

• Normal Wavefront and Modified Wavefront Comparison
• Mathew Coombes: Optimal Polygon Decomposition for UAV Survey Coverage Path Planning in Wind

Trajectory Generator

Motion Planning: http://support.motioneng.com/Software-MPI_04_04/Topics/Geometric%20Path%20Motion.htm

Optimal Control

Link Collection

• https://uma.ensta-paristech.fr/itn-sadco/talks/ssl2011/ssl2011_maurer2.pdf
• https://www.sciencedirect.com/science/article/pii/S0947358016300553
• https://link-springer-com.ezproxy.unibo.it/article/10.1007/BF02192021
• Nicola dal Bianco: Optimal control of road vehicles: theory and applications
• Linear Quadratic Regulator
• IPOPT Paper

Steps to install Maverick

1. Install IpOpt
   1. Download https://www.coin-or.org/download/source/Ipopt/
   2. Extract and enter directory
   3. cd ThirdParty/Blas
   4. ./get.Blas
   5. cd ../Lapack
   6. ./get.Lapack
   7. cd ../Mumps
   8. ./get.Mumps
   9. cd ../Metis
   10. ./get.Metis
   11. cd ../../ (Go back to the IPOPT base dir)
   12. mkdir build
   13. cd build
   14. ../configure --prefix /usr/local
   15. make -j 4
   16. sudo make install
2. Install Maverick
   1. apt install libreadline-dev libatlas-base-dev (lua.c requires readline and BLAS library for linking)
   2. make IPOPT_INCLUDE=-I/usr/local/include/coin
   3. sudo make install