The objective of the game is to collect five targets before 2 minutes pass. After collecting all five, the player moves onto the next level, the wind increases, and the time is reset. After completing three levels, the player wins the game. If the player runs out of time at any point, they lose.
In this project, The attached simulator allows the user to provide input to the PD controller of the drone, which will then control the drone’s rotors accordingly. The location of the drone can be seen via the included visualization.
In this project, a PD controller is developed to control a drone
The controller takes the current dynamics of the system as its input, and ouputs rotor speeds to bring the system to the desired dynamics.
First the required thrust (T) and torque (τ) are computed, and then the rotor speeds required to obtain these values of torque and thrust are computed