This repository contains sample code in MATLAB for minimum snap trajectory planning described in https://blog.csdn.net/q597967420/article/details/76099491. This README provides a brief overview of our trajectory generation utilities with some examples.

Chinese Docs

• Minimum Snap轨迹规划详解（1）轨迹规划入门.pdf
• Minimum Snap轨迹规划详解（2）corridor与时间分配.pdf
• Minimum Snap轨迹规划详解（3）闭式求解.pdf
• Minimum Snap轨迹规划详解（4）guiding trajectory.pdf

1. MATLAB(R2013a is tested)

There are 4 demo codes in 2D space, you can directly run these and see results.

• demo1: minimum snap trajectory planning with waypoints strong constrants(equality constraints).
• demo2: minimum snap trajectory planning with corridor constraints(iequality constraints).
• demo3: minimum snap trajectory planning with waypoints strong constrants by close form solution.
• demo4: minimum snap trajectory planning with guiding path

The source code is released under GPLv3 license.

Any problem, please contact [email protected]