About

Locus No Pilotus is a project of four first grade MIPT DAFE/RSE students (for engineering practical work in the second semester) in Qt C++.

Description

In this project, we are developing an application that calculates the trajectory of a flying delivery robot that collects valuable cargo from control points: Targets. On its way, it may encounter high mountains that it cannot fly over: Hills; or elliptical territories that are impossible to visit due to climate conditions: TrappyCircles. Also, through some control points, the robot is simply unable to move, as the cargo may not be ready for transportation at that time, these are TrappyLines.

The robot's trajectory is calculated using several mathematical algorithms: Little's Algorithm (solving the Traveling Salesman Problem (TSP) for multiple robots), Dijkstra's Algorithm (finding the shortest path between two points in a graph), Geometric Algorithms for Obstacle Handling (tangents to circles and polygons and intersection checking), Visibility Graph Construction, Composite Trajectory Planning Algorithm.

This is a comprehensive system that combines geometric computations with optimization algorithms to solve complex trajectory planning problems in the presence of obstacles. The algorithms work together to find collision-free paths that minimize total travel distance while visiting all required points.

In the application, you can add objects using window forms, interact with the trajectory calculation plot using the mouse cursor, create and open files in .json format with a specific style for this application. Editing objects can also be done with cursors or using a special dynamic input field with tables, opened in a separate window mode or embedded in the main one.