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Stevedan Ogochukwu Omodolor
formation_coordination_uav_ugv
Commits
21d933f0
Commit
21d933f0
authored
3 years ago
by
Stevedan Ogochukwu Omodolor
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parent
28869aad
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2 changed files
real_robot/coordination_formation_control_pkg/src/test_controller.cpp
+14
-0
14 additions, 0 deletions
...oordination_formation_control_pkg/src/test_controller.cpp
simulation/controller/test_controllers.m
+10
-4
10 additions, 4 deletions
simulation/controller/test_controllers.m
with
24 additions
and
4 deletions
real_robot/coordination_formation_control_pkg/src/test_controller.cpp
+
14
−
0
View file @
21d933f0
...
@@ -41,6 +41,20 @@ int main(int argc, char **argv)
...
@@ -41,6 +41,20 @@ int main(int argc, char **argv)
robot_ind_t
robot_ind
;
robot_ind_t
robot_ind
;
Eigen
::
MatrixXf
uav_state_q
(
2
,
3
);
Eigen
::
MatrixXf
uav_state_p
(
2
,
3
);
obstacle_t
*
current_obs
=
new
obstacle_t
[
n_obs
]();
waypoint_t
current_waypoint
;
uav_state_q
<<
1
1
2
-
1
-
1.1
-
2
;
uav_state_q
<<
0
0
0
0
0
;
current_waypoint
ref
;
ref
.
q
<<
0
,
0
;
ref
.
p
<<
5
,
1
;
robot_ind
.
id
=
1
;
robot_ind
.
id
=
1
;
robot_ind
.
id_m
=
0
;
robot_ind
.
id_m
=
0
;
...
...
This diff is collapsed.
Click to expand it.
simulation/controller/test_controllers.m
+
10
−
4
View file @
21d933f0
...
@@ -14,10 +14,12 @@ controller_gains.c2_beta = 1;
...
@@ -14,10 +14,12 @@ controller_gains.c2_beta = 1;
controller_gains
.
c1_gamma
=
1
;
controller_gains
.
c1_gamma
=
1
;
controller_gains
.
c2_gamma
=
1
;
controller_gains
.
c2_gamma
=
1
;
controller_gains
.
c1_theta
=
1
;
controller_gains
.
c1_theta
=
1
;
controller_gains
.
c1_delta
=
1
;
form_param
.
dist
=
0.2
;
form_param
.
dist
=
0.2
;
form_param
.
type
=
2
;
form_param
.
type
=
2
;
form_param
.
k
=
1.2
;
form_param
.
k
=
1.2
;
form_param
.
ratio
=
0.8
;
% ratio between dist inter and obstacle
form_param
.
ratio
=
7
;
% ratio between dist inter and obstacle
form_param
.
eps
=
0.1
;
form_param
.
eps
=
0.1
;
form_param
.
a
=
5
;
form_param
.
a
=
5
;
form_param
.
b
=
5
;
form_param
.
b
=
5
;
...
@@ -26,12 +28,13 @@ form_param.h_beta = 0.9;
...
@@ -26,12 +28,13 @@ form_param.h_beta = 0.9;
form_param
.
d_obs
=
0
;
form_param
.
d_obs
=
0
;
form_param
.
nav_type
=
1
;
% triangle
form_param
.
nav_type
=
1
;
% triangle
form_param
.
integrator
=
2
;
form_param
.
integrator
=
2
;
form_param
.
dt
=
0.01
;
% form_param.nav_type = 2;
% form_param.nav_type = 2;
% form_param.nav_type = 2;
% form_param.nav_type = 2;
% form_param.nav_type = 2;
% form_param.nav_type = 2;
form_param
.
integrator
=
1
;
form_param
.
integrator
=
1
;
cooperation
=
1
;
%% demo state and goal
%% demo state and goal
q0
=
[
1
1
2
;
q0
=
[
1
1
2
;
...
@@ -48,11 +51,14 @@ obs = [1, 0,0
...
@@ -48,11 +51,14 @@ obs = [1, 0,0
-
1.15
,
0
,
0
;
-
1.15
,
0
,
0
;
0.5
,
2
,
3
];
0.5
,
2
,
3
];
ori
=
[]
;
ori
=
0
;
c1
=
SwamControllerAlg
(
robot_size
,
id
,
ind_pos
,
form_param
,
controller_gains
);
c1
=
SwamControllerAlg
(
robot_size
,
id
,
ind_pos
,
form_param
,
controller_gains
);
c1
.
showFormation
c1
.
showFormation
[
input
,
input_vec
]
=
c1
.
controller
(
q0
,
p0
,
ref
,
obs
,
0
);
[
input
,
input_vec
]
=
c1
.
controller
(
q0
,
p0
,
ref
,
obs
,
ori
,
cooperation
);
\ No newline at end of file
input
input_vec
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