In this project, we developed a controller and planner for CrazyFlie 2.0 to dodge an obstacle throwing at it. This project constitutes the majority of the coursework for 24-774 Advanced Control System Integration at Carnegie Mellon University.
crazyflie_ws - Catkin workspace for integrating Crazyflie 2.0 with Optitrak through ROS Check the README in crazyflie_ws for more information about setup. The original repository for this workspace can be found here.
This folder contains all the code we developed for controller, planner, communication, and simulation. The project report can be viewed here.
The project videos can be viewed in the following YouTube playlist: https://www.youtube.com/playlist?list=PLejBgh4PSucLqI6gG4lg_6wGPFEpSn489