Quadcopter Simulation and Control

This is a project for course EE260 "Advanced Robotics".

Description

In this project, we simulate a Crazyflie quadcopter in Python from scratch. This project has three main parts:

Dynamics: solves the dynamic equations of the robot using an ODE solver.
Controller: implements a PD controller to control the drone to a desired pose.
Visualization: plots the drone in a 3D space.

Prerequisites

Python 3.7

Installing

To install the required dependencies, run the following command:

pip install -r requirements.txt

Running

To run the simulation, you need to provide the following parameters:

q0: Initial pose [x, y, z, phi, theta, psi]
qh: Goal pose [x, y, z, phi, theta, psi]
th: Hovering time
zt: Take-off height
d : Display velocity and accelartion on 2d graph

python main.py --q0 1.5 2.5 .4 0 0 0 --qh 1 1 0 0 2 3 --th 5 --zt 2 --d

Alternatively, you can define these parameters in the config.py file and run:

python main.py -n --d

If you use the --d option, the simulation speed will decrease, and the robot may lag. For better performance, you can run the simulation without the --d option.

Credits