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This MATLAB-based repository contains implementations of quadrotor control systems, path planning, and trajectory optimization algorithms developed as part of an advanced robotics course at the University of Pennsylvania. It includes PD controllers, path planning via Dijkstra and A* algorithms, and trajectory optimization (minimum snap/acceleration). Run code: change trajectories in file control/runsim.m and run. See quadrotor_dynamics.pdf for dynamic modeling of the quadrotor. See control/controller.m for implementation of the PD controller. Visualization below. Desired (blue) vs Actual (red).
Features
- PD controller implementations for quadrotor stabilization
- Path planning algorithms including Dijkstra and A
- Trajectory optimization routines: minimum snap and acceleration trajectories
- MATLAB scripts for simulation (runsim.m) for control and planning modules
- Comprehensive documentation including dynamic modeling and project reports
- Visualizations showcasing trajectory tracking performance and path results
Project Samples
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