2DQuadrotor_LQR_Trees

This project is a MATLAB implementation of the simulation based LQR-Tree algorithm for a planner quadrotor.

Prerequisites

In order to run this program you will need to have the following installed on your machine:

• Optimtraj

and extract the folder to Generate_trees folder

steps

• Generate the LQR-trees by running generateQuad2D file in Generate_trees folder
• run Quadrotor2D_withObstacles or Quadrotor2D to visualize and test the LQR-Trees generated

Visualization

Figure.33.2021-09-23.14-30-49.mp4

Future Work

• Improve code documentation
• Remove extranneous code
• improve the running time

Issues for generating LQR-Trees

• the running time for a 2d state space model is around 30min
• runing time for a 4d state space model is around 60 hours
• runing time for a 6d state space model is over 200 hours

Aknowledgments

This software was developed as a part of my final graduation project.