Quadrotor Control Lab-MEAM620-Advanced Robotics
University of Pennsylvania, Philadelphia, U.S.A.
SUMMARY
VIDEOS LINKS AVAILABLE BELOW!
In this project I had the opportunity to control a quadrotor both in simulation and in a laboratory.
The project consisted on four steps:
University of Pennsylvania, Philadelphia, U.S.A.
SUMMARY
VIDEOS LINKS AVAILABLE BELOW!
In this project I had the opportunity to control a quadrotor both in simulation and in a laboratory.
The project consisted on four steps:
- I did a path planner, which check a discrete map for the fastest way to get from point A to point B (this is done with Dijkstra's algorithm and with A*).
- Then, we designed and tuned a controller for a quadrotor. A simulation of the quadrotor's physics was used with Matlab to tune and verify the controller of the quadrotor.
- After knowing how to control the quadrotor and knowing how to get from point A to point B, I did a trajectory planner that told the quadrotor how to go from point A to point B. The trajectory planner fitted a quintic path between different waypoints that resulted from the path planner. This way, the movement, velocity and acceleration profile of the quadrotor can be defined.
- Finally, the results of the project where tested on a real quadrotor (the Nano+ from KMel Robotics). This last part was done with Daven Bhat and Mary Ibrahim.
Detailed Explanation
Coming Soon!