UAV motion control
MATLAB implementation of UAV (unmanned aerial vehicle) control simulation, with RRT (rapidly exploring random tree) for path planning, B-Spline for trajectory generation and LP (linear programming) for trajectory optimization.
- BSpline_demo.m trajectory generation demo - PD_control_BSpline_demo.m flight demo The project is written primarily in MATLAB, first published in 2020. Key topics include: bspline, motion-tracking, pd-control-demo, simulation, trajectory-generation.
Usage
- BSpline_demo.m trajectory generation demo
- PD_control_BSpline_demo.m flight demo
figures
Reference
Dong, W., Ding, Y., Huang, J., Zhu, X., & Ding, H. (2017). An efficient approach of time-optimal trajectory generation for the fully autonomous navigation of the quadrotor. Journal of Dynamic Systems, Measurement, and Control, 139(6), 061012.
Contributors
Showing top 2 contributors by commit count.
Related Repositories
orbingol/NURBS-Python
Object-oriented pure Python B-Spline and NURBS library
zhm-real/CurvesGenerator
Common used curves for motion planning.
orbingol/geomdl-examples
Example scripts for the NURBS-Python (geomdl) package
KIT-ISAS/SFUISE
SFUISE is a novel continuous-time UWB-inertial state estimation framework based on sliding-window spline fusion.
soufianekhiat/qaws
A dependency-free C11 library for creating, evaluating, sampling, traversing, and inspecting parametric curves and surfaces in 2D and 3D. One source, four backends: C, HLSL, GLSL, Halide
mit-acl/minvo
Simplexes with Minimum Volume Enclosing Polynomial Curves