trajectory_generator

This program generates payload trajectories leveraging differential-flatness of quadrotors. The users need to provide algebratic equations of quadrotor flat outputs (px,py,pz,psi). Then the trajectories including pos, vel, acc, omega, alpha are generated and stored in a csv file.

Dependencies

Matlab R2023b (tested version, others may work)

CasADi toolbox (https://web.casadi.org/get/)

Robotics systems toolbox, for the rotm2quat function. Other toolboxes such as UAV toolbox may also work.

Run

1. Define parameters in main.m
2. Define algebraic equations of trajectories in main.m
3. Run main.m