Truck Drone Project

Below is an example output animation from the truck/drone simulation (from mpc_animation_astar.gif):

This repository contains a truck and drone delivery simulation with path planning and MPC based tracking under wind disturbances.

For the full project explanation, methodology, and results, please read the report: Drone_Project.pdf.

How to Run

Use Python 3 and install the required packages:

pip install numpy scipy matplotlib

Move into the project folder:

cd "drone project"

If you want to change the scenario, edit map_config.py and choose the map configuration you want to use.

Then run the project in this order:

1. Create the map files:

python3 map.py

2. Generate the initial truck/drone paths:

python3 init_path.py

3. Run the MPC simulation and produce the plots and animations:

python3 mpc.py

Output Files

Running the scripts will generate files such as:

• map.npz
• step1_map.png
• init_path_results.npz
• MPC plots like mpc_path_astar.png, mpc_energy_rrt.png
• animations like mpc_animation_astar.gif

The report explains the problem formulation and methodology in detail: Drone_Project.pdf .