![step](https://raw.githubusercontent.com/fucyuan/quadrotor/master/imgs/hover.jpg)
(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)
Please cite this work using the following bibtex if you use the software in your publications
@software{Lu_yrlu_quadrotor_Quadrotor_Control_2022,
author = {Lu, Yiren},
doi = {10.5281/zenodo.6796215},
month = {7},
title = {{yrlu/quadrotor: Quadrotor Control, Path Planning and Trajectory Optimization}},
url = {https://github.com/yrlu/quadrotor},
version = {1.0.0},
year = {2017}
}
- Run code: change trajectories in file
control/runsim.m
and run. - See quadrotor_dynamics.pdf for dynamic modeling of the quadrotor.
- See
control/controller.m
for implementation of the PD controller. - Visualization below. Desired (blue) vs Actual (red)
- Run code:
traj_planning/runsim.m
and run path 1 or path 3. - See project_report.pdf for more details about trajectory generation
- See
traj_planning/path_planning/dijkstra.m
for implementation of path finding algorithms (dijstra, A*). - See
traj_planning/traj_opt7.m
for implementations of minimium snap trajectory. - See
traj_planning/traj_opt5.m
for implementations of minimium acceleration trajectory. - Visualization below.
(with way points constraints)