For a given start and goal pose, simulate a drone trajectory tracked by an LQR controller. The ROS2 node publishes Remote_id in real time.
(four drones test scenario):
#References:
- Sabatino, Francesco. "Quadrotor control: modeling, nonlinearcontrol design, and simulation." (2015).
- Mueller, Mark W., Markus Hehn, and Raffaello D'Andrea. "A computationally efficient motion primitive for quadrocopter trajectory generation." IEEE transactions on robotics 31.6 (2015): 1294-1310.
- https://github.com/sundw2014/Quadrotor_LQR/tree/master