Peng

🔍 Overview

Peng is a minimal quadrotor autonomy framework written in Rust that provides real-time dynamics simulation, trajectory planning, and control with modern visualization capabilities.

🎯 Key Features

• 🚁 Real-time Simulation
  • High-fidelity quadrotor dynamics with configurable parameters
  • IMU and depth sensor simulation
  • Optional RK4 integration for accurate dynamics
• 🎮 Advanced Control
  • PID control for position and attitude with tunable gains
  • Integral windup prevention
  • Support for different control frequencies
• 📍 Rich Trajectory Planning
  • Minimum jerk line trajectory planner
  • Lissajous curve planner
  • Circular trajectory planner
  • Obstacle avoidance planner
  • Minimum snap waypoint navigation planner
  • Quadratic Polynomial waypoint navigation planner
  • Landing planner
• 📊 Visualization & Debug
  • Real-time 3D visualization via rerun.io
  • Depth map rendering
  • State telemetry logging
  • Configurable logging frequencies
• ⚡ Performance
  • Memory-safe and Efficient Rust implementation
  • Multi-threaded depth rendering

🚀 Getting Started

Prerequisites

• Rust
• rerun-cli

Installation from Crates.io

cargo install rerun-cli
cargo install peng_quad
peng_quad config/quad.yaml

Installation from Source

cargo install rerun-cli
git clone https://github.com/makeecat/Peng.git
cd Peng
cargo run --release config/quad.yaml

⚙️ Configuration

• You can configure the simulation through config file, see quad.yaml for example.
• Configure simulation parameters such as mass, inertia, and control gains.
• Configure control parameters such as PID gains.
• Configure trajectory planner parameters such as waypoints, obstacles, and trajectory type.
• Configure visualization parameters such as camera intrinsics and depth rendering.

🔧 Rerun Troubleshooting

If you encountered any issue with the rerun:

1. Verify rerun-cli version matches rerun version in Cargo.toml:

rerun --version

2. For Linux/WSL2 users, consult the rerun troubleshooting.

🗺️ Roadmap

• Wind field and environmental effects
• Motor dynamics simulation
• Multi-quadrotor simulation
• Model Predictive Control (MPC)

🤝 Contributing

We welcome contributions of all kinds! Please check out the Contributing Guidelines for more details.

📄 License

Peng is free, open source and permissively licensed! Except where noted (below and/or in individual files), all code in this repository is dual-licensed under either:

• MIT License (LICENSE-MIT or http://opensource.org/licenses/MIT)
• Apache License, Version 2.0 (LICENSE-APACHE or http://www.apache.org/licenses/LICENSE-2.0) at your option.

This means you can select the license you prefer!

📝 Blog Posts

• Peng #1: Minimal quadrotor pipeline in Rust
• Peng #2: Error Handling, Configuration System and Obstacle Avoidance Planner
• Peng #3: Optimization of Depth Rendering and RK4-based Dynamics Update

📚 Citation

If you use this project in your research or work, please cite it as follows:

@software{peng_quad,
  author       = {Yang Zhou},
  title        = {Peng: A Minimal Quadrotor Autonomy Framework in Rust},
  year         = {2024},
  publisher    = {GitHub},
  journal      = {GitHub repository},
  howpublished = {\url{https://github.com/makeecat/peng}},
}