Drone control
Quadcopter Stabilization and control algortihm
This project aimed at developping the stabilization and control algorithm for a quadcopter in Python.
Developing a flying robot is a costly and lengthy process, where experimenting on real robot is laborious and accident prone. Robotic simulator are invaluable tools for this purpose, they allow developing and testing algorithm in a safe and inexpensive manner. A particularly popular simulator Webots [1]. It is a powerful, realistic, and easy to use simulator for mobile robots. It provides a complete development environment to model, program and simulate robots.
However, a proper controller to fly stably quadcopters in Webots was missing, which was a problem for multiple research projects relying on drones.
This project aims at implementing this controller, such that the simulated behaviour is as close as possible to the real drone.
This project also aims at quantifying the discrepancy between the simulation and the real drone behaviour, as well as providing a standard ROS interface for flexible integration of the controller in other research projects.