This is a V-REP plugin that implements a controller for a quadrotor model, written in C .
The controller is described in: D. Zhou and M. Schwager, “Vector Field Following for Quadrotors using Differential Flatness”, In Proc. of the International Conference on Robotics and Automation (ICRA 14), June, 2014, pp. 6567-6572.
This software is not related in any way with the authors of this paper.
- libginac-dev
- libcln-dev
- Install the dependencies
- Set in the Makefile the variable VREPDIR to your V-REP installation directory
- cd to the symsplugin directory
- Run "make mklib" to build the library or "make install" to build and copy it to the V-REP installation directory
- See the scene "field_controller.ttt" for an example of usage.
- To use the scene, also modify the path of the file vector-field.txt inside the main quadrotor child script.
- The plugin has been written for V-REP 3.4.0.
- Euler angles singularity at 90° pitch
- Tested with ODE and Bullet <=2.83 (not working with Vortex)