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Quadrotor control using minimum snap trajectory optimization and SE3 geometric controller

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minimum-snap-geometric-control

This project is from the course EN530.678.S2018 Nonlinear Control and Planning in Robotics, The Johns Hopkins University. For more information, please visit the course website

This repository contains MATLAB-based simulation of quadrotor using a geometric controller tracking the trajectory generated by minimum snap optimization.

Main Contributors: Soowon Kim ([email protected](now [email protected])), and Hyungmu Lee ([email protected])
Affiliation: Johns Hopkins University

Final presentation and report

slides, report

How To

Please run the main script sequentially in mainsim.m

Path Planning (trajectory generation & optimization)

Controller

Time allocation

Low time penalty

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High time penalty

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Obstacle avoidance

No disturbances

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With disturbances

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Related articles

Minimum snap trajectory generation and control for quadrotors: https://ieeexplore.ieee.org/abstract/document/5980409

Polynomial Trajectory Planning for Aggressive Quadrotor Flight in Dense Indoor Environments: https://link.springer.com/chapter/10.1007/978-3-319-28872-7_37

Geometric tracking control of a quadrotor UAV on SE(3): https://ieeexplore.ieee.org/abstract/document/5717652

Control of Complex Maneuvers for a Quadrotor UAV using Geometric Methods on SE(3): https://arxiv.org/abs/1003.2005

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