shivansh-p/drone_simulator

Autonomous drone simulation with LQR controller, trajectory planning, obstacle avoidance features in ROS2 and Python

A repository to simulate dynamics and control of a drone.

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.

Single drone obstacle avoidance:

Multiple drones spawn example:

(four drones test scenario):

#References:

1. Sabatino, Francesco. "Quadrotor control: modeling, nonlinearcontrol design, and simulation." (2015).
2. 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.
3. https://github.com/sundw2014/Quadrotor_LQR/tree/master