Quadrotor-Trajectory-Follower

Introduction

The aim of this project is to implement a 2D controller of a quadrotor for tracing a predefined trajectory.

Sequence of project:

• PID Tuning
• Gain Tuning
• Hover at a Height, 1D Quadrotor
• 2D Quadrotor

1D Quadrotor

Here, the aim is to stabilize the quadrotor at given height.

Hover at 0 m height:

Hover at 1 m height:

2D Quadrotor

The aim is to design controller that would make quadrotor follow desired path and also minimize position error.

Line Trajectory:

Sine Trajectory:

The tuning of the gains for quadrotor trajectory is a major task. Here, Trial and error method is used to find the gains.
In this method a certain minimum value to each of the gains is given and increased upto desired state.
Inorder to tune this, we solved a PID tuning assignment. A detailed report of which can be found on : https://hackmd.io/@akash2002/SyV5gKbBF.