# minimum-snap-geometric-control

**Repository Path**: gchasing/minimum-snap-geometric-control

## Basic Information

- **Project Name**: minimum-snap-geometric-control
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-12-02
- **Last Updated**: 2025-12-02

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# minimum-snap-geometric-control
This project is from the course EN530.678.S2018 Nonlinear Control and Planning in Robotics, The Johns Hopkins University. For more information, please visit the course [website](https://asco.lcsr.jhu.edu)

This repository contains MATLAB-based simulation of quadrotor using a geometric controller tracking the trajectory generated by minimum snap optimization.

**Main Contributors**: Soowon Kim (skim386@jhu.edu(now soowon_kim@korea.ac.kr)), and Hyungmu Lee (leehm1026@gmail.com)  
**Affiliation**: Johns Hopkins University

## Final presentation and report
[slides](https://drive.google.com/open?id=1APnwKnfsYUZB0-4T4GaXExabcxmzodVf), [report](https://drive.google.com/open?id=17HhCqkOnvpvw7iIP_8YxWNhx-nqY6or6)

## How To
Please run the main script sequentially in ``mainsim.m``

## Path Planning (trajectory generation & optimization)

## Controller

## Time allocation

Low time penalty

[![IMAGE ALT TEXT HERE](https://img.youtube.com/vi/m1lIAcgYFYQ/0.jpg)](https://www.youtube.com/watch?v=m1lIAcgYFYQ)

High time penalty

[![IMAGE ALT TEXT HERE](https://img.youtube.com/vi/HpaOFfIOTrs/0.jpg)](https://www.youtube.com/watch?v=HpaOFfIOTrs)

## Obstacle avoidance

No disturbances

[![IMAGE ALT TEXT HERE](https://img.youtube.com/vi/bzi5rqWMOCg/0.jpg)](https://www.youtube.com/watch?v=bzi5rqWMOCg)

With disturbances

[![IMAGE ALT TEXT HERE](https://img.youtube.com/vi/gG9_Etc4188/0.jpg)](https://www.youtube.com/watch?v=gG9_Etc4188)

## Related articles
Minimum snap trajectory generation and control for quadrotors: 
https://ieeexplore.ieee.org/abstract/document/5980409

Polynomial Trajectory Planning for Aggressive Quadrotor Flight in Dense Indoor Environments: 
https://link.springer.com/chapter/10.1007/978-3-319-28872-7_37

Geometric tracking control of a quadrotor UAV on SE(3): 
https://ieeexplore.ieee.org/abstract/document/5717652

Control of Complex Maneuvers for a Quadrotor UAV using Geometric Methods on SE(3):
https://arxiv.org/abs/1003.2005