https://github.com/heethesh/quadcopter-modelling-and-trajectory-optimization

This is the Air Mobility Project for 16-665 Robot Mobility in Air, Land, and Sea (Fall 2018) at Carnegie Mellon University
https://github.com/heethesh/quadcopter-modelling-and-trajectory-optimization

Last synced: 5 months ago
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This is the Air Mobility Project for 16-665 Robot Mobility in Air, Land, and Sea (Fall 2018) at Carnegie Mellon University

• Host: GitHub
• URL: https://github.com/heethesh/quadcopter-modelling-and-trajectory-optimization
• Owner: heethesh
• License: gpl-3.0
• Created: 2018-12-24T10:58:34.000Z (almost 7 years ago)
• Default Branch: master
• Last Pushed: 2020-02-02T20:47:38.000Z (almost 6 years ago)
• Last Synced: 2025-06-11T22:21:40.816Z (6 months ago)
• Language: Mathematica
• Homepage:
• Size: 34 MB
• Stars: 6
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# Quadcopter Modelling and Trajectory Optimization

This is the Air Mobility Project for 16-665 Robot Mobility in Air, Land, and Sea (Fall 2018) at Carnegie Mellon University.

Instructor for Air Mobility: Nathan Michael

This repository is a fork from my original repository [here](https://github.com/heethesh/16-665-Robot-Mobility).

## Objectives

- Develop the quadcopter model (and state-space version) and implement PID and LQR based feedback contollers.

- Develop a basic state machine to facilitate simulation that enables the robot to takeoff, hover, track a trajectory, and land.

- Introduce time-parameterized trajectories given fixed initial and final endpoint constraints and bounded velocity and acceleration.

- Extend the formulation to include piecewise continuous trajectories with fixed initial and final endpoint constraints.

- Evaluate tracking performance given different levels of flight performance and trajectory design (from slow to fast, straight and curved paths).

- Exploit the concepts and implementations developed through the previous exercises to achieve high-performance flight. 

## CMU Academic Integrity Policy

If you are currently enrolled in this course, please refer to Carnegie Mellon University Policy on Academic Integrity [here](https://www.cmu.edu/policies/student-and-student-life/academic-integrity.html) before referring to the any of the repository contents.

## Blender Simulation

### Quadrotor Pirouette

![blender](report/images/Pirouette-01.PNG?raw=true "Quadrotor Pirouette")

### Quadrotor Flip

![blender](report/images/Free-Skate-02.PNG?raw=true "Quadrotor Flip")

### Quadrotor Fly-Through-Ring

![blender](report/images/Free-Skate-01.PNG?raw=true "Quadrotor Fly-Through-Ring")

## Quadcopter Model

![model](report/images/Quadcopter-Model-01.png?raw=true "Quadrotor Controller Model")

## Flowchart

![flowchart](report/images/Software-Model-01.png?raw=true "Software Flowchart")