Model Predictive Control Based Path Following and Obstacle Avoidance for a Drone
I successfully defined and linearized the quadcopter’s dynamics, and evaluated its stability.
Further-more, implemented two distinct controllers - Linear Quadratic Regulator (LQR) and Model Predictive Control(MPC) - both of which demonstrated proficiency in trajectory tracking.
Lastly, by adding constraints to the MPC and integrating the Rapidly-exploring Random Tree (RRT) algorithm to LQR, was able to create collision free paths and demonstrated the capability of the controllers to effectively avoid obstacles.
