# matlabPathSmooth

**Repository Path**: imbaguanxin/matlabPathSmooth

## Basic Information

- **Project Name**: matlabPathSmooth
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2020-01-30
- **Last Updated**: 2020-12-19

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# matlab Path Smoother

This is a matlab reimplementation of the paper `Planning Dynamically Feasible Trajectories for Quadrotors Using Safe Flight Corridors in 3-D Complex Environment` by Sikang Liu et al on July 2017.

paper is provided in this repository.

## Astar package

The `Astar` package provides an astar path finder.

Change the input source of the map or manually type the map out is possible.

1. read map from file: Change the input source file. The file should be a 2d img of the map. I assume darker part is obstacle.

2. manually type the map: like line 17 to 29. Write your own map matrix and give the value to `map.cellStatus`. You can simply uncomment the given `map.cellStatus` sample and substitute my sample map with yours. (0 - blank, 1 - obstacle)

Then you need to manually set the start point and the end point. The point is a image coordinate: [row, column].

Finally, it is going to find path and store the path in the `path` variable in the format of cell array.

Sample result:
![astar img](/pic/astarResult.jpg)

red - searched block, blue - final path.