This is the Air Mobility Project for 16-665 Robot Mobility in Air, Land, and Sea (Fall 2018) at Carnegie Mellon University. Instructor for Air Mobility: Nathan Michael
This repository is a fork from my original repository here.
- Develop the quadcopter model (and state-space version) and implement PID and LQR based feedback contollers.
- Develop a basic state machine to facilitate simulation that enables the robot to takeoff, hover, track a trajectory, and land.
- Introduce time-parameterized trajectories given fixed initial and final endpoint constraints and bounded velocity and acceleration.
- Extend the formulation to include piecewise continuous trajectories with fixed initial and final endpoint constraints.
- Evaluate tracking performance given different levels of flight performance and trajectory design (from slow to fast, straight and curved paths).
- Exploit the concepts and implementations developed through the previous exercises to achieve high-performance flight.
If you are currently enrolled in this course, please refer to Carnegie Mellon University Policy on Academic Integrity here before referring to the any of the repository contents.
