Quadrotor Path Planning and Control

As part of an advanced robotics course, I developed software in MATLAB to plan the minimized paths through mazes using the Djikstra's and A-star algorithms. I further implemented an algorithm to minimize the snap of these trajectories such that quadrotors could realistically and effectively navigate them.  I also designed a non-linear PD controller that was able to utilize sensory inputs from the quadrotor's built-in IMU as well as a VICON motion-capture system to make these trajectories executable. My software was implemented on a CrazyFlie 2.0 quadrotor and flown in a real obstacle environment.

Minimum Snap. Trajectories