yrlu / Quadrotor
Quadrotor control, path planning and trajectory optimization
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Quadrotor Control, Path Planning and Trajectory Optimization
(Click above image for real quadrotor demos)
Following MEAM 620 Advanced Robotics course at University of Pennsylvania.
(For Penn students: DO NOT spoil the fun by looking at this repo and not working on your assignments! and most importantly, DO NOT violate the honor code!)
This repo includes matlab code for:
- Quadrotor PD controller
- Path planning algorithms (Dijkstra, A*)
- Trajectory optimizations (Minimum Snap/Acceleration Trajectory)
PD Controller
- Run code: change trajectories in file
control/runsim.mand run. - See quadrotor_dynamics.pdf for dynamic modeling of the quadrotor.
- See
control/controller.mfor implementation of the PD controller. - Visualization below. Desired (blue) vs Actual (red)
Trajectory 1: Step
Trajectory 2: Circle
Trajectory 2: Diamond
Path Planning and Trajectory Optimization
- Run code:
traj_planning/runsim.mand run path 1 or path 3. - See project_report.pdf for more details about trajectory generation
- See
traj_planning/path_planning/dijkstra.mfor implementation of path finding algorithms (dijstra, A*). - See
traj_planning/traj_opt7.mfor implementations of minimium snap trajectory. - See
traj_planning/traj_opt5.mfor implementations of minimium acceleration trajectory. - Visualization below.
Minimum Acceleration Trajectory
Minimum Snap Trajectory
(with way points constraints)
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