This is the repository for MEAM 6200 Final Project: An Autonomous VIO-based Quadcopter.
The figure below shows the overview of the replanning framework:
The specific steps for the Project is:
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Use an Error State Kalman Filter to combine the IMU and vision data together.
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Use Dijkstra and A* algorithm to find a passable trajectory in local map.
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Use Ramer–Douglas–Peucker algorithm to make the point set sparse.
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Use Min-Jerk Algorithm to generate a spline of flight.
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Use a non-linear geometric PD controller for the quadroter.
The two figures below demostrates the performance of this project. The left one shows the quadrotor finding path and flying in a maze, and the right one shows how the quadrotor flies in a map with several changes in path direction.
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