Trajectory Generation and Control for Quadrotors

Sandesh Thapa

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arXiv · 2610.34456

Trajectory Generation and Control for Quadrotors

Sandesh Thapa

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Abstract

In this project, I explored controller design and trajectory generation for a quadrotor. Differential flatness was used for trajectory generation based on one of the references. A minimum snap trajectory is generated from the given algorithm based on waypoint navigation, and a simple proportional plus derivative (PD) controller is used to track the trajectories. Simulation results are presented which generate smooth trajectories for position and velocity of the quadrotor.

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Sandesh Thapa. 2026-10-25. Trajectory Generation and Control for Quadrotors. https://arxiv.org/abs/2610.34456

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