/3D-Quadrotor-Control-System-and-Motion-Planner

3d simulation of a quadrotor drone flying along minimum snap trajectory

Primary LanguageMATLAB

3D Quadrotor Control System and Motion Planner

Description

  • 3d simulation of a quadrotor drone flying along designated trajectory. The simulator and supporting code was provided by UPenn's Aerial Robotics Course (available on coursera).

Controls

  • For this project I derived, designed and implemented an attitude and position controller using a PD control loop, ZXY Euler angle rotations, and Newton-Euler equations for non linearized aggressive motion
  • A* Search

Motion Planner

  • Generates minimum snap trajectories consisting of n 7th order polynomial piece-wise functions passing through input coordinates

Notes

  • n/a

Dependencies

  • matlab

To Do

  • n/a