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

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

https://user-images.githubusercontent.com/56355937/143513341-f7fdf012-dd15-4701-9d2a-5cb48dd4a470.mp4

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verified publisher icon joris997

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

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