Final version for IRP Dynamic Autorouting
Results Video: https://youtu.be/XtmcNa-w4-0?si=V0FAj7HmrgcvlQuK

This version

• Constraints matrix has been introduced (e.g. Weather data)
• Path following and UAV dynamics have been introduced
• Evaluation methods are considered (e.g. real-time performance)
• Added Position-Holding feature
• Added Global vs Local path adaptability based on scenarios

Not finished

• Fuel consumption and flight time cost not considered
• Overlapped shape problem not fixed
• Stagnation problem not fixed (e.g. when path is orthogonal to cylinder surface)

Problem Noticed

• Problem1: The effect of overlapped object ruined the path planning result
• Problem2: The Barrier of the cylinder, cone, and parallel piped are not uniformly enclosed -> This is because of how the safeguard function is derived from sphere
• Problem3: After restructuring the code, the Global Optimizer ran a lot slower (but maybe more accurate than verion2_legacy since the objective function considers the SafeGuard and identical to the IFDS algorithm called in the main file)

Possible Solutions

• Problem1: Follow the literature to solve the overlapped problem
• Problem2: Derive the barrier for the cylinder case, or even for the general case

Results