Quadrotor control, path planning and trajectory optimization
(Click above image for real quadrotor demos)
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:
Please cite this work using the following bibtex if you use the software in your publications
@software{Lu_yrlu_quadrotor_Quadrotor_Control_2022,
author = {Lu, Yiren},
doi = {10.5281/zenodo.6796215},
month = {7},
title = {{yrlu/quadrotor: Quadrotor Control, Path Planning and Trajectory Optimization}},
url = {https://github.com/yrlu/quadrotor},
version = {1.0.0},
year = {2017}
}
control/runsim.m
and run.control/controller.m
for implementation of the PD controller.
traj_planning/runsim.m
and run path 1 or path 3.traj_planning/path_planning/dijkstra.m
for implementation of path finding algorithms (dijstra, A*).traj_planning/traj_opt7.m
for implementations of minimium snap trajectory.traj_planning/traj_opt5.m
for implementations of minimium acceleration trajectory.
(with way points constraints)