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Path Planning and Vision-based Control of Quadrotor


Creative Fields
Computer Vision, Robotics
Completion Date
Mar 11th, 2015



- Description:

  • To plan a shortest path in 3D space and control the quadrotor both in simulation and in actual environment.

- Achievements:

  1. Implemented efficient Dijkstra and A* shortest path algorithm in Matlab.
  2. Implemented a vision-based 3D pose and velocity estimator using optical flow.
  3. Implemented Linear-quadratic Regulator (LQR) method and proportional-derivative (PD) method to control the quadrotor.
 
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