Quadrotor Control, Path Planning and Trajectory Optimization

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.

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.

HELLO LAUREN

Run control/test.m to draw whatever you want. It samples what you draw and saves it to a file. Then run control/runsim.m to see the quadrotor work its magic. Note, if the goal is moving too fast for the quadrotor to keep up with, go to control/trajectories/goal_chase.m and change time_tol to a different number.

That being said, all the trajectory generation is being done in control/trajectories/goal_chase.m