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ethz-adrl / control-toolbox

The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control
BSD 2-Clause "Simplified" License
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UAV/Drone MPC path traking controller example #180

Closed dookei closed 3 years ago

dookei commented 3 years ago

Hi there, I would lov to use this package in a Drone/UAV simulation under ROS. Like shown in the demonstration videos. Could anyone please give me some guidance where I should start? What actuators should be controlled( position or velocity or acceleration or Roll, pitch, Yaw?) The basic theory behind MPC I believe I got it(at least I like to think so ;-).

markusgft commented 3 years ago

Hi @dookei, I would recommend you to start by looking at the following example that we provide it ct_ros, see https://github.com/ethz-adrl/ct_ros/blob/master/ct_ros_nodes/examples/Quadrotor/QuadrotorNLOC.cpp This performs trajectory optimization for a quadrotor. From there, it should be relatively easy to go for unconstrained MPC, by running iLQR or GNMs iteratively. Best!

dookei commented 3 years ago

Hi @markusgft , thank you very much for your prompt reply. I will look into it and try it out.