Quadrotor simulation
This project contains:
- Informed RRT* to plan a collision free path from start to goal position in an N-dimensional Map.
- A minimum snap trajectory generator. The segment times between consecutive waypoints are also optimised.
- Nonlinear geometric controller for aggressive trajectory tracking and hover controller
- Quadrotor Simulator
Dependencies
- scipy, numpy, matplotlib, rtree-linux
Usage
Trajectory generation and control example
from TrajGen import trajGenerator, Helix_waypoints
from Quadrotor import QuadSim
import controller
waypoints = Helix_waypoints(5)
#Generate trajectory through waypoints
traj = trajGenerator(waypoints,max_vel = 10,gamma = 1e6)
#initialise simulation with given controller and trajectory
Tmax = traj.TS[-1]
des_state = traj.get_des_state
sim = QuadSim(controller,des_state,Tmax)
#run simulation
sim.run()
With Path Planning
python3 runsim.py
find out more in PathPlanning/README.md
Future Work
- Adding disturbance to quadrotor model
- Collision checking after trajectory generation