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⛄ 内容介绍
This project is intended to control the motion of the Unmanned Aerial Vehicle in the real world to follow a specifific trajectory smoothly and quickly. In this report, we will discuss how we design the controller and trajectory generator to reach this purpose.
In the last seven years, advances in materials, electronics, sensors and batteries have fueled a growth in the development of Micro Unmanned Aerial Vehicles (MAVs) that are between 0.1-0.5 m in length and 0.1-0.5 kg in mass [1]. A few groups have built and analyzed MAVs in the 10 cm range [2, 3]. One of the smallest is the Picoflflyer with a 60 mm propeller diameter and a mass of 3.3 g [4]. Platforms in the 50 cm range are more prevalent with several groups having built and flflown systems of this size [5–7]. In fact, there are several commercially available RC helicopters and research grade helicopters in this size range [8]. A review of the challenges in develop autonomous micro UAVs is presented in [9]. In this project, we introduce the modeling of quad rotors used in the GRASP Multiple MAV testbed to support research on coordinated, dynamic flflight of MAVs. This document is derived from the complete reference [10] which describes the approach to modeling, control and integrating off-the-shelf quad rotors.In the last seven years, advances in materials, electronics, sensors and batteries have fueled a growth in the development of Micro Unmanned Aerial Vehicles (MAVs) that are between 0.1-0.5 m in length and 0.1-0.5 kg in mass [1]. A few groups have built and analyzed MAVs in the 10 cm range [2, 3]. One of the smallest is the Picoflflyer with a 60 mm propeller diameter and a mass of 3.3 g [4]. Platforms in the 50 cm range are more prevalent with several groups having built and flflown systems of this size [5–7]. In fact, there are several commercially available RC helicopters and research grade helicopters in this size range [8]. A review of the challenges in develop autonomous micro UAVs is presented in [9]. In this project, we introduce the modeling of quad rotors used in the GRASP Multiple MAV testbed to support research on coordinated, dynamic flflight of MAVs. This document is derived from the complete reference [10] which describes the approach to modeling, control and integrating off-the-shelf quad rotors.
⛄ 部分代码
close all;
clear all;
clc;
addpath(genpath('./'));
%% Plan path 1
disp('Planning ...');
map = load_map('maps/map1.txt', 0.1, 2, 0.25);
start = {[0.0 -4.9 0.2]};
stop = {[6.0 18.0-1 5.0]};
% stop = {[6.0 18.0-6 3.0]};
nquad = length(start);
for qn = 1:nquad
tic
path{qn} = dijkstra(map, start{qn}, stop{qn}, true);
toc
end
if nquad == 1
plot_path(map, path{1});
else
% you could modify your plot_path to handle cell input for multiple robots
end
%% Plan path 3
disp('Planning ...');
map = load_map('maps/map3.txt', 0.2, 0.5, 0.25);
start = {[0.0, 5, 5.0]};
stop = {[20, 5, 5]};
nquad = length(start);
for qn = 1:nquad
tic
path{qn} = dijkstra(map, start{qn}, stop{qn}, true);
toc
end
if nquad == 1
plot_path(map, path{1});
else
% you could modify your plot_path to handle cell input for multiple robots
end
%% Additional init script
init_script;
%% Run trajectory
trajectory = test_trajectory(start, stop, map, path, true); % with visualization
⛄ 运行结果
⛄ 参考文献
[1] D. Pines and F. Bohorquez, “Challenges facing future micro air vehicle development,” AIAA Journal of Aircraft,
vol. 43, no. 2, pp. 290–305, 2006.
[2] I. Kroo, F. Prinz, M. Shantz, P. Kunz, G. Fay, S. Cheng, T. F*, and C. Partridge, “The mesicopter: A
miniature rotorcraft concept, phase ii interim report,” 2000.
[3] B. Hein and I. Chopra, “Hover performance of a micro air vehicle: Rotor at low reynolds number,” Journal of
the American Helicopter Society, vol. 52, no. 3, pp. 254–262, July 2007.
[4] “Proxflflyer,” http://www.proxflflyer.com.
[5] D. Gurdan, J. Stumpf, M. Achtelik, K. Doth, G. Hirzinger, and D. Rus, “Energy-effificient autonomous four
rotor flflying robot controlled at 1 khz,” in Proc. of the IEEE Int. Conf. on Robotics and Automation, Roma, Italy,
Apr. 2007.
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