yrlu / quadrotor

Quadrotor control, path planning and trajectory optimization

Quadrotor Control, Path Planning and Trajectory Optimization

(Click the image above to watch real quadrotor demonstrations)

Following MEAM 620 Advanced Robotics course at University of Pennsylvania.

🚫 For Penn students: Please DO NOT spoil the learning experience by using this repository as a shortcut for your assignments. Most importantly, DO NOT violate the honor code!

Repository Contents

This repository contains MATLAB code for:

• Quadrotor PD controllers
• Path planning algorithms (Dijkstra, A*)
• Trajectory optimization algorithms (Minimum Snap/Acceleration Trajectory)

If you use this software in your publications, please cite it using the following BibTeX entry:

@misc{lu2017quadrotor,
  author = {Lu, Yiren and Cai, Myles and Ling, Wudao and Zhou, Xuanyu},
  doi = {10.5281/zenodo.6796215},
  month = {7},
  title = {{Quadrotor control, path planning and trajectory optimization}},
  url = {https://github.com/yrlu/quadrotor},
  year = {2017}
}

PD Controller

• Run code: change trajectories in file control/runsim.m and run.
• See quadrotor_dynamics.pdf for dynamic modeling of the quadrotor.
• See control/controller.m for implementation of the PD controller.
• Visualization below. Desired (blue) vs Actual (red)

Trajectory 1: Step

Trajectory 2: Circle

Trajectory 2: Diamond

Path Planning and Trajectory Optimization

• Run code: traj_planning/runsim.m and run path 1 or path 3.
• See project_report.pdf for more details about trajectory generation
• See traj_planning/path_planning/dijkstra.m for implementation of path finding algorithms (dijstra, A*).
• See traj_planning/traj_opt7.m for implementations of minimium snap trajectory.
• See traj_planning/traj_opt5.m for implementations of minimium acceleration trajectory.
• Visualization below.

Minimum Acceleration Trajectory

Minimum Snap Trajectory

(with way points constraints)

quadrotor's Issues

undefine qn

Hi. I tried to run your repo but there's this error qn not found/undefine..Help me solve this one. Thanks.

error

Error in runsim (line 60)
des_start = trajhandle(0, qn);

I get error. why?

Plot Angles and Angular Rates

We are students from Institute of Space and Technology. We are taking help from your project and we need help with plotting the Angles and Angular Rates when a trajectory is generated. Kindly guide us with how can we get our desired plots.

Path Planning for Multiple UAVs?

Hi,

I'm conducting a personal research using multiple Crazyflies, using UWB Positioning.

I'd like my multiple of drones to travel to a target location while being able to avoid static obstacles & other drones

What's needed to be changed for this code to work for multiple UAVs concurrently?

Has this been explored before?

Thanks!

Error in decompressing package

Error in decompressing package after next，I tried several computers, and the problem was the same.How to solve the problem？

undefined function 'tj_from_line'

Hi,
I git clone the codes of quadrotor, and tried to run it. There are some errors following the instructions in readme.md. I think the tj_from_line function is missing? Would you commit the missing files?Thank you.

BUG of the generate_ts.m

generate_ts.m
line 6:
path_seg_len = sqrt(sqrt(sum((path(2:end, :) - path(1:end-1,:)).^2,2)));

it should be：
path_seg_len =sqrt(sum((path(2:end, :) - path(1:end-1,:)).^2,2));

ROS test

Hello, Is the ROS framework environment used to interface with the crazyflie available somewhere? Thanks!

image matching

我也是西工大的注意到你也在关注Eloftr可否交流一下 vx15030081340

Minimum acceleration trajectory does not work

Hi, I am trying to run your code on trajectory optimization and find that if I change the traj_opt7 function used in trajectory_generator.m to traj_opt3 or traj_opt3c, it does not work anymore (BTW there is no traj_opt5.m in the repo). When I use traj_opt3, the trajectory goes to very far away from the desired trajectory. When I use traj_opt3c, the quadrator cannot start moving. Any idea on how to solve this? Thanks a lot!