Quadrotor_sim

Quadrotor_sim is a ROS Noetic quadrotor simulation which implements a quadrotor trajectory planner + a nonlinear controller.

Installation

To install this repository, first make sure you clone this repository in catkin_ws/src and build your workspace by running this command in catkin_ws:

catkin_make

Running

Start the Gazebo simulation with:

roslaunch quadrotor_sim gazebo.launch

This command will spawn the quadrotor and start the nonlinear controller.

Starting Trajectories

This project currently has 6 premade trajectories. To run these trajectories, replace <num> with the desired trajectory number and run this command in a separate terminal:

roslaunch quadrotor_sim trajectory_<num>.launch

YouTube Video

Here is a YouTube Video of the project.

Ref

This simulation is the implementation of the following paper:

D. Mellinger and V. Kumar, "Minimum snap trajectory generation and control for quadrotors," 2011 IEEE International Conference on Robotics and Automation, Shanghai, China, 2011, pp. 2520-2525, doi: 10.1109/ICRA.2011.5980409.

Upcoming Changes

In the following version of this project, I aim to:

1. Add Extended Kalman filter for state estimation.
2. Add a project report PDF file.