RRT-MPC-Quadrotor

Quadrotor motion planning and control in dynamic environments using RRT and nonlinear MPC

Instructions

Requires MATLAB's Model Predictive Control toolbox!.

run 'runRRT.m' to run and simultaneously visualize the RRT algorithm at work for the current room configuration (not necessary, see 'output' folder)
run MPC_INIT.m to run the Model Predictive Controller tracking the path generated by RRT while avoiding obstacles.

video.mp4

Name		Name	Last commit message	Last commit date
Latest commit History 6 Commits
MPC_functions		MPC_functions
helper_functions		helper_functions
obstacles		obstacles
output		output
LICENSE		LICENSE
MPC_INIT.m		MPC_INIT.m
MPC_INIT_2.m		MPC_INIT_2.m
MPC_INIT_square.m		MPC_INIT_square.m
README.md		README.md
RrtPlanner.m		RrtPlanner.m
RrtPlannerTests.m		RrtPlannerTests.m
droneDT.m		droneDT.m
droneMeasurementFcn.m		droneMeasurementFcn.m
droneStateFcn.m		droneStateFcn.m
plotRRT.m		plotRRT.m
runRRT.m		runRRT.m
video.mp4		video.mp4
visualization.m		visualization.m