Bebop Drone Trajectory Planner
For this project my team and I used a Parrot® Bebop drone and it's API to execute closed loop trajectories. Using the drone's onboard velocity estimates, my team and I wrote a controller and a trajectory planner in C, and generated custom shape trajectories using MATLAB.
I wrote a trajectory generator that read in coefficients for the start and end positions of each segment of the trajectory and use them to calculate the time-parameterized desired position, velocity, and acceleration for the quadrotor. These values were the desired positions, velocities, and accelerations that I fed into our controller, to generate a closed square trajectory.
I designed the architecture for integrating the controller and trajectory planner into one of the Bebop's demo programs.
C, Unix, Matlab