Quadrotor Simulator

Hello and welcome to Quadrotor Simulator. We make it in MATLAB. Thanks the following contributors:

• Qin Yetong
• Liu Peijiang

Quick Start

Requirements

• Optimization Toolbox
• Control System Toolbox

File Tree

.
├── assets
├── controller
├── model
├── trajectory_generation
├── utils
├── README.md
├── testControllers.m
├── testQuadMotion.m
├── testTimeAllocation.m
├── testTrajectories.m
├── testTrajectoryGeneration.m
└── testTrajectoryTracking.m

All the files in the root can be run directly.

Explanation

1. testTrajectoryGeneration.m.

   

   You can set waypoints using the cursor in order, and press ENTER to finish setting. And then, it will calculate and show the minimum-snap, line interpolation and polynomial fitting trajectory.

2. testTimeAllocation.m.

   

   You can set waypoints like testTrajectoryGeneration.m. And then, it will calculate and show the spatial-temporal and spatial trajectory. The spatial trajectory has the same time allocation for each piece of trajectory.

3. testTrajectoryTracking.m

   

   You can set waypoints using cursor, and then input z(height) in the command line. Finally, press ENTER to finish setting. Subsequently, it will first generate a minimum-snap trajectory and then begin the simulation using a simple linear PID controller.

4. testQuadMotion.m

   

   You can change the input type in the file. In this file, it will test the model response to different inputs. The quadrotor model can be found in ./model/.

5. testTrajectories.m & testControllers.m

   

   

   They are the previous of this reposity. We make it in our course project. They test different trajectory generation methods (minimum-snap, line interpolation and polynomial fitting) and different controllers (PID and LQR) in 2D space.