3d simulation of a quadrotor drone flying along designated trajectory. The simulator and supporting code was provided by UPenn's Aerial Robotics Course (available on coursera).
Controls
For this project I derived, designed and implemented an attitude and position controller using a PD control loop, ZXY Euler angle rotations, and Newton-Euler equations for non linearized aggressive motion
Motion Planner
Generates minimum snap trajectories consisting of n 7th order polynomial piece-wise functions passing through input coordinates
Notes
n/a
Dependencies
matlab
To Do
n/a
3d-quadrotor-control-system-and-motion-planner's People