Trajectory Generation and Control of a Quadrotor:

Crazyflie 2.0 navigating in the known map

Autonomously controlled a CrazyFlie 2.0 through a 3D environment with obstacles. Developed a geometric nonlinear controller and implemented constant speed trajectory. Implemented two graph search algorithms: Dijkstra’s algorithm and A*

Map 1: Maze

Trajectory and flight path

A* Path, Waypoints, and Trajectory

Position vs Time plot

Map 2: Over Under

Trajectory and flight path

A* Path, Waypoints, and Trajectory

Position vs Time plot

Map 3: Window

Trajectory and flight path

A* Path, Waypoints, and Trajectory

Position vs Time plot

Code: click here