minimum-snap-geometric-control

June 22, 2021 ยท View on GitHub

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 (skim386@jhu.edu(now soowon_kim@korea.ac.kr)), and Hyungmu Lee (leehm1026@gmail.com)
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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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