shubhamwani376 / MPC_Quadcopter

Trajectory Tracking PD controller with quaternion based dynamics

Trajectory Tracking PD controller with quaternion based dynamics

Author:

Shubham Wani Nikunj Sanghai

Implementation

This project implements the following features:

1. Quintic polynomial trajectory generation based on start, waypoint and goal
2. State visualisation based on 3D matplotlib plots
3. PD control on position and attitude error and their relevant graphs
4. Quaternion based dynamics instead of rotation/euler angles

Video

Dependencies

pip install numpy
pip install matplotlib
pip install opencv-python # only for creating video

Reference

Class notes MAE271D @ UCLA, Fall 22 Relevant files added to folder Reference