ggao33/Quadrotor-Project
Fork: 2 Star: 7 (更新于 2024-11-01 19:01:10)
license: 暂无
Language: MATLAB .
The objective of this project is to design a Quadrotor Simulink model with the perspective camera and create a controller to follow a series of point features rather than hover over a single point using Peter Corke’s RVC toolbox and Simulink model. However, there’s a trouble with the vision controller. So, the goal of this project is refined to achieve some drive pose without vision control or IVBS. The revised tasks include modifying controller gains, gravity feedforward removal, adding compensation regarding pitch and roll angles, ballistic motion, smooth landing etc
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Plese use the .m script to run every simulink model. Example: Qb_script.m is used for Qb.slx
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Before running any simulink model under the current path 'startup_rvc' and 'mdl_quadrotor' are required to load rvc toolbox and quadrotor parameters. These two commands are included at the beginning of every script.
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Please use the included .m files instead of Peter Corke's original script/function. Because some of the parameters are modified based on this project. If there's a conflict, please make sure everything is running under the right path.
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datasheet.pdf includes all figures and results which aren't included in the report.
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'startup_rvc': load RVC toolbox 'mdl_quadrotor': load quadrotor parameters 'quadrotor_dynamics': quadrotor dynamics initilizations and calculations 'quadrotor_plot': 3D animation 'plotter': 2D & 3d results 'crash_tester': send warnings if the quadrotor crashes/lands 'z_cmp': see z-direction variations vs. time
- Youtube links of Demo: Qb: https://youtu.be/R0hvc1k2qf4 Qc: https://youtu.be/-lSsPgVWtfU Qd: https://youtu.be/c2LYp_rBygo Qf: https://youtu.be/VhAoh858pnk
最近版本更新:(数据更新于 2024-10-30 13:04:11)
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