Autonomously Navigating Cluttered Environment with CrazyFlie

In these experiments, we wrote software to allow a small drone to autonomously navigate through a maze-like environment with the help of a Vicon system. To do this, we combined our geometric non-linear controller, A* path planner, and minimum snap trajectory generator. This allowed the CrazyFlie 2.0 to move in a controlled and collision-free manner between specified goal points. All code was written in Python and integrated in ROS. Below is a video of our drone in action:

Here are plots of the simulated trajectory compared to the experimental flight path for the second two paths and a link to our final report.