Introduction

This project simulates the crazyflie 2.0 quadrotor in Matlab. It includes the following:

• Simulated quadrotor dynamics
• PD attitude and position controllers
• Dijikstra and A star path planners
• Minimum jerk trajectory generator

Results

Position and Velocity

key

• Blue - planned trajectory
• Red - followed trajectory

Execution

Run runsim.m in Matlab

References

• MEAM 620: Advanced Robotics @ University of Pennsylvania