![step](imgs/hover.jpg)
(Click above image for real quadrotor demos)
Following MEAM 620 Advanced Robotics course at University of Pennsylvania.
This repo includes matlab code for:
- Quadrotor PD controller
- Path planning algorithms (Dijkstra, A*)
- Trajectory optimizations (Minimum Snap/Acceleration Trajectory)
- 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)