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Matlab-Simulator

Contact Fiona Chui for questions on quadrotor dynamics (including contact), non-recovery controllers, collision detection, and collision characterization using Fuzzy Logic. Contact Gareth Dicker for questions on recovery controller.

MATLAB simulator that captures contact dynamics during collision between a propeller-protected quadrotor and a wall. The collision is identified and characterized, then a Recovery Controller stabilizes the vehicle to a safe distance away from the wall.

  • Start standard simulator with startsim.m
  • Initial collision conditions can be prescribed inside startsim.m
  • startsim_matchexp.m is for creating simulations to mimic collisions using Spiri platform (set I)
  • startsim_matchexpoffboard.m is for creating simulations to mimic collisions using Navi platform (set VII)
  • startsim_trajectory.m is for prescribing a vehicle trajectory. Useful for non-collision simulations (make sure to locate ImpactParams.wallLoc far away from the trajectory waypoints.
  • sim_Batch.m runs startsim.m recursively (once you have turned it into a function by uncommenting the first line), to simulate collisions for an array of specified initial conditions. sim_MonteCarlo.m is recommended over this option.
  • sim_MonteCarlo.m runs startsim.m recursively (once you have turned it into a function by uncommenting the first line), to simulate collisions for an array of randomized initial conditions within specified ranges.