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1. rrt-trajectory-planner rrt-trajectory-planner Public

   Adapted Rapidly Exploring Random Tree algorithm to plan smooth trajectories through a map of a San Francisco city block.

   C++

2. a-star-minimum-snap a-star-minimum-snap Public

   Designed, built, and tested a customized trajectory planner that integrates A* pathfinding with 7th order polynomial interpolation for minimum snap trajectories through complex obstacle-dense 3D maps.

   C++

3. imu-interfacing imu-interfacing Public

   Developed firmware to interface an MPU9250 Inertial Measurement Unit with an Arduino development board. Implemented an averaging filter and sensor calibration routine.

   C++

4. euler-rotation-tool euler-rotation-tool Public

   Developed a Python-based application designed to visualize and animate the rotation of a body frame relative to a world frame using Euler angles. An excellent learning or teaching tool.

   Python 1

5. potential-field-optimization potential-field-optimization Public

   Demonstrated the concept of potential field path planning in cluttered 3D spaces. Project involved aspects of designing, building, and testing.

   Python

6. integrated-planning-and-control integrated-planning-and-control Public

   Work in progress: Building a comprehensive drone flight simulator by integrating trajectory planning with a cascaded PID controller for trajectory tracking. Designing each submodule from scratch or…

   C++