liwanyue123 / rf-mpc-uav

The RF-MPC algorithm, originally designed for quadruped robots, is adapted for use with UAVs after some modifications.

RF-MPC-UAV

The RF-MPC algorithm, originally designed for quadruped robots (https://github.com/YanranDing/RF-MPC), is adapted for use with UAVs after some modifications.

I have provided a simple trajectory without considering the quadrotor UAV's dynamic constraints and optimization. You can run test_traj.m to see the results.

Requirement

Basic: MATLAB and MATLAB optimization toolbox

Optional: qpSWIFT (can be obtained from https://github.com/qpSWIFT)

Installation

There is no need to install external packages.

Usage

Navigate to the root directory and run the MAIN_UAV.m function

MAIN

The Plant

The robot is modeled as a single rigid body (SRB). The SRB dynamics is defined in ...\fcns\dynamics_SRB_UAV.m

VBL and vectorization

The code for variation-based linearization and vectorization steps is in ...\fcns_MPC\fcn_get_ABD_eta_UAV.m

Quadratic Program (QP)

The code for QP formulation is in ...\fcns_MPC\fcn_get_QP_form_eta_UAV.m

The QP could be solved by either the MATLAB QP solver quadprog or an efficient QP solver qpSWIFT (coming soon!)

References

This code is based on the following paper:

• Yanran Ding, Abhishek Pandala, Chuanzheng Li, Young-Ha Shin, Hae-Won Park "Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds". In IEEE Transactions on Robotics.

Acknowledgments

Thanks to Yanran Ding