liupudong/minimum-snap-geometric-control

Quadrotor control using minimum snap trajectory optimization and SE3 geometric controller

minimum-snap-geometric-control

This project is from the course EN530.678.S2018 Nonlinear Control and Planning in Robotics, The Johns Hopkins University.

For more information, please visit the course website

Final presentation

slides

Time allocation

Low time penalty

High time penalty

Obstacle avoidance

No disturbances

With disturbances

Related articles

Minimum snap trajectory generation and control for quadrotors: https://ieeexplore.ieee.org/abstract/document/5980409

Polynomial Trajectory Planning for Aggressive Quadrotor Flight in Dense Indoor Environments: https://link.springer.com/chapter/10.1007/978-3-319-28872-7_37

Geometric tracking control of a quadrotor UAV on SE(3): https://ieeexplore.ieee.org/abstract/document/5717652

Control of Complex Maneuvers for a Quadrotor UAV using Geometric Methods on SE(3): https://arxiv.org/abs/1003.2005