We used minimum snap trajectory generation to generate a smooth 8 degree polynomial trajectory passing through a sequence of waypoints
Initially we implemented a trajectory with fixed time segments
Then we improved it by computing optimal time segments, where gradient descent is implemented to optimized time for each segment.
We further modified the formulation to incorporate acceleration and velocity constraints to generate constrained time optimized trajectory
We implemented high-level position controller (lateral acceleration as control) and low level attitude controller (angular rates as control)
To mitigate the external disturbances cause by wind we implemented sliding mode control based controller
PID with external disturbances vs Sliding Mode with external disturbance
