【源码】多无人机鲁棒规划工具箱

Multidrone Robust Planning Toolbox
Installation
Clone the repository or get the toolbox from the MATLAB File Exchange

Install LKH

git clone https://github.com/MicheleBolognini/MultidroneRobustPlanning
这个工具箱依赖于LKH来解决TSP实例。因此，有必要下载并编译它，以便生成的LKH脚本位于“LKH”文件夹中。

This toolbox relies on LKH to solve TSP instances. It is therefore necessary to download it and compile it, so that the resulting LKH script is located in the “LKH” folder. It is available both from the official site and from the related git repository Download the code or clone the repository, then rename the folder and compile it

cd MultidroneRobustPlanning
git clone https://github.com/cerebis/LKH3
tar xvfz LKH-3.0.6.tgz
mv LKH-3.0.6.tgz LKH
cd LKH
make
Compiling will make the executable available, the file is called ‘LKH’.

这个工具箱提供了为一组无人机规划路径的功能，这些无人机的任务是在一个已知且混乱的环境中遍历一组三维点。算法如[1]所述。

This toolbox provides functions for planning paths for a set of drones tasked with traversing a set of 3D points in a known and cluttered environment. The algorithm is described in [1].

References
[1] M. Bolognini, L. Fagiano, M.P. Limongelli (2021). An autonomous, robust, multi-agent UAV pathplanner for inspection of the built environment.

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