Nonlinear geometric controller with generated trajectories of a diamond and helix utlizing quadratic velocity profiles.
More can be found in the project1-1 submission folder.
Builds upon project1-1 by running either Dijkstra or Astar with Euclidean distance heuristic to plan a path to goal position.
More can be found in the project1-2 submission folder
Runs project1-2 with additional pruning of waypoints through ray tracing to make trajectory generation more efficient and fix discretization. Also creates polynomial trajectories by solving a linear system between waypoints to smoothly travel to the goal.
More can be found in the project1-3 submission folder
Uses April Tag information, camera intrinsics, and transformations from IMU to estimate pose between two images with homographies.
More can be found in the project2-1 submission folder
Builds on project2-1 by utlizing optical flow between two images and RANSAC to estimate velocities.
More can be found in the project2-2 submission folder
Incorporates the dynamics of the quadrotor and an IMU in with the velocity and pose estimates from project2-2 to use an extended kalman filter (ekf).
More can be found in the project2-3 submission folder
