Autonomous Quad 2019

To Run

Run RunSimSingle.m in MATLAB to run a single instance of the simulation. MonteCarlo.m is used to execute the simulation inside a Monte-Carlo run, adjust the script to change number of instances run.

Branch Descriptions

| Branch | Description | | Master | Contains original simulation. UAV searches 5x5 grid for 3 objects (prism, cube, sphere), deposit base is located at coordinate (0,0). | | Symmetry | Updated implementation, base coordinate moved to center of a 10x10 grid. Symmetrically applies the same controller 4 times for each 5x5 quadrant, transitioning between the two. |

Main Directory

Scripts

File	Description
RunSimSingle.m	Run single instance of simulation.
MonteCarlo.m	Run multiple instances of simulation and output data to excel spreadsheet "MCResults.xslx"

Classes

File	Description
cAgent.m	Dynamic agent superclass.
cTarget.m	Target class with properties and methods. Subclass of cAgent.
cEnvironment.m	Environment class describes properties and methods of UAV environment.
cBlackbox	Blackbox class contains methods for reading data from simulation and then presenting it as animations or plots.

@cQuadrotor

File	Description
cQuadrotor.m	Quadrotor class with properties and class constructor. Subclass of cAgent.
SmartSearch.m	Controller for PRISM files, implements an optimal search pattern using PRISM generated state and transition files.
SearchPattern.m	Implements a pattern search used to compare performance against PRISM search. 5x5 pattern search is a square wave; 10x10 pattern search is a spiral inwards towards the base.