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Control 2d quadrotor drone (traj 8 figure, wind sinoidal)#72

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EAhmadAhmad wants to merge 19 commits into
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alislaiman496:control-2d-quadrotor-drone-(traj----8-figure,-wind----sinoidal)
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Control 2d quadrotor drone (traj 8 figure, wind sinoidal)#72
EAhmadAhmad wants to merge 19 commits into
rp-itmo:masterfrom
alislaiman496:control-2d-quadrotor-drone-(traj----8-figure,-wind----sinoidal)

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🚁 Project Update: MuJoCo Quadrotor MPC Simulation

📌 What was added

  • Added a complete and structured README.md
  • Documented full project architecture
  • Explained MuJoCo model (quadrotor_2d.xml)
  • Added MPC controller explanation
  • Added simulation pipeline (trajectory + wind + metrics)
  • Included installation and run instructions
  • Documented outputs (video + images)

🧠 Key Components Explained

  • 2D planar quadrotor dynamics in MuJoCo
  • MPC-style controller with horizon prediction
  • Figure-8 trajectory generator
  • Sinusoidal wind disturbance model
  • Tracking performance evaluation

🎥 Results

  • Simulation video: quadrotor_figure8_mujoco.mp4
  • Final frame: quadrotor_figure8_final.png

⚙️ How to Run

pip install -r requirements.txt
python run_mujoco_quadrotor.py --render-video --duration 20

@kirillin kirillin added the done label Jun 20, 2026
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4 participants