dtbinh / quadrotorrecoverycontrol-simulator

MATLAB simulation of quadrotor dynamics (including contact during collisions)

Matlab-Simulator

This repo is a copy of the McGill-AML repository, and may not be up to date. Contact Fiona Chui for questions on quadrotor dynamics (including contact), non-recovery controllers, collision detection, and collision characterization using Fuzzy Logic. Contact Gareth Dicker for questions on recovery controller.

MATLAB simulator that captures contact dynamics during collision between a propeller-protected quadrotor and a wall. The collision is identified and characterized, then a Recovery Controller stabilizes the vehicle to a safe distance away from the wall.

• Start standard simulator with startsim.m
• Initial collision conditions can be prescribed inside startsim.m
• startsim_matchexp.m is for creating simulations to mimic collisions using Spiri platform (set I)
• startsim_matchexpoffboard.m is for creating simulations to mimic collisions using Navi platform (set VII)
• startsim_trajectory.m is for prescribing a vehicle trajectory. Useful for non-collision simulations (make sure to locate ImpactParams.wallLoc far away from the trajectory waypoints.
• sim_Batch.m runs startsim.m recursively (once you have turned it into a function by uncommenting the first line), to simulate collisions for an array of specified initial conditions. sim_MonteCarlo.m is recommended over this option.
• sim_MonteCarlo.m runs startsim.m recursively (once you have turned it into a function by uncommenting the first line), to simulate collisions for an array of randomized initial conditions within specified ranges.