yrlu / quadrotor

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.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)

Trajectory 1: Step

Trajectory 2: Circle

Trajectory 2: Diamond

Path Planning and Trajectory Optimization

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.