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