Graduate Controls and Optimization project (MEAM 5170 at Penn): a 3D simulation of a quadcopter flying through a dense forest to extinguish a fire. I combined global planning, nonlinear quadrotor dynamics, and model-predictive control into one pipeline that takes the drone from takeoff to the fire zone through randomly generated obstacles.
- RRT* for collision-free global planning, with smoothing and clearance checks
- LPV-MPC for trajectory tracking, solving a QP at every timestep
- Nonlinear quadrotor dynamics with velocity, attitude and obstacle constraints
- Spline-defined fire zone boundary as the target region
- 3D visualization of the full forest flyover, validated at multiple integration steps
Repo: https://github.com/cedrichld/mpc-fire-quadrotor
quadrotor_trajectory_TPV_ref_traj.mp4
quadrotor_trajectory_TPV_forest3.mp4
First_drone_video.mp4
