Organizations: School of Mechanical and Aerospace Engineering Control, Robotics & Automation Lab (CoRAL), Fall 2017 Oklahoma State University Stillwater, Oklahoma
In this project, I explored controller design and trajectory generation for a quadrotor. Differential flatness was used for trajectory generation based on one of the references. A minimum snap trajectory is generated from the given algorithm based on waypoint navigation, and a simple proportional plus derivative (PD) controller is used to track the trajectories. Simulation results are presented which generate smooth trajectories for position and velocity of the quadrotor.
Figures & tables
Fig. 1: Quadrotor model with the body-fixed and inertial reference frames.
Fig. 2: The position and attitude control loops.
Fig. 3: Kinematic Car
Fig. 4: AscTec Hummingbird quadrotor used in the paper for simulation purposes [ 1 ] [ 8 ]
Fig. 5: Position and velocity trajectories for the quadrotor based on minimum snap. All the trajectories are smooth and based on differential flatness.
Fig. 6: Position and velocity trajectories for the quadrotor without minimum snap. The points are connected linearly with each other based on the shortest distance (minimum velocity).