Trajectory generation and control of a quadrotor
The objective of this project was to write a path planner, trajectory generator and controller to fly a quadrotor through different maps with obstacles and tight passages. In this project, my quadrotor flew the fastest overall time across a series of different map layouts. To achieve this time, I used searched for a potential path using visibility graphs and used a minimum jerk trajectory. Due to COVID-19 and restricted lab access, the implementation was tested in simulation only but should be runnable on the Bitcraze Crazyflie.
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