diff --git a/real_robot/coordination_formation_control_pkg/config/crazyfliesConfig.yaml b/real_robot/coordination_formation_control_pkg/config/crazyfliesConfig.yaml index 8d7912f8688fa833d2f7f81712501c026589cbef..1fb653cfd23bffd19295874468cfa376c9ca07c9 100644 --- a/real_robot/coordination_formation_control_pkg/config/crazyfliesConfig.yaml +++ b/real_robot/coordination_formation_control_pkg/config/crazyfliesConfig.yaml @@ -1,16 +1,16 @@ crazyflies: -- id: 1 - channel: 90 - initialPosition: [0.0, 0.0, 0.0] - type: default +# - id: 1 +# channel: 90 +# initialPosition: [0.0, 0.0, 0.0] +# type: default - id: 2 channel: 90 initialPosition: [0.0, 0.0, 0.0] type: default -- id: 3 - channel: 80 - initialPosition: [0.0, 0.0, 0.0] - type: default +# - id: 3 +# channel: 80 +# initialPosition: [0.0, 0.0, 0.0] +# type: default # - id: 4 # channel: 80 # initialPosition: [0.0, 0.0, 0.0] diff --git a/real_robot/coordination_formation_control_pkg/config/missionConfig.yaml b/real_robot/coordination_formation_control_pkg/config/missionConfig.yaml index 643f908d27c2080d448d320e9627563133790e91..fb3531f3f33fe2ad9bc64b3691352b7b980d457d 100644 --- a/real_robot/coordination_formation_control_pkg/config/missionConfig.yaml +++ b/real_robot/coordination_formation_control_pkg/config/missionConfig.yaml @@ -2,7 +2,7 @@ n_drones: 3 n_ugvs: 0 hz_freq: 50 # controller frquency include_obstacle: false -include_orientation: false +include_orientation: true n_obs: 0 log_name: "/home/spot/steven_master_ws/src/coordination_formation_control_pkg/results/experiment_2_free_space_maintain_3_uav/result" enable_log: true diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_1_free_space_maintain_3_uav/notes.MD b/real_robot/coordination_formation_control_pkg/results/experiment_1_free_space_maintain_3_uav/notes.MD index 967b4eb469ba25990c51a816446e264337bfd3c7..18a399e5bba89e89bd74d0d8fc0af67835e875b6 100644 --- a/real_robot/coordination_formation_control_pkg/results/experiment_1_free_space_maintain_3_uav/notes.MD +++ b/real_robot/coordination_formation_control_pkg/results/experiment_1_free_space_maintain_3_uav/notes.MD @@ -4,6 +4,7 @@ - Y: 0 - Vx: 0 - Vy: 0 +- Orientation 0 Experiment premises Formation control of 3 crazyflies center at 0,0 position and 0,0 velocity without orientation diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_2_free_space_maintain_3_uav/notes.MD b/real_robot/coordination_formation_control_pkg/results/experiment_2_free_space_maintain_3_uav/notes.MD index 62216c13885e7585cf808aad9e795aff34750ee0..a5440e34003623c1ce28d6d261aaa8efd741ddb8 100644 --- a/real_robot/coordination_formation_control_pkg/results/experiment_2_free_space_maintain_3_uav/notes.MD +++ b/real_robot/coordination_formation_control_pkg/results/experiment_2_free_space_maintain_3_uav/notes.MD @@ -4,12 +4,13 @@ - Y: 0 - Vx: 0 - Vy: 0 +- Orientation 0 Experiment premises Formation control of 3 crazyflies center at 0,0 position and 0,0 velocity without orientation # comment on the results obtained during test -We increased the maximum integration action to the system to see whether it recuded the oscillations in the formation +We increased the maximum integration action to the system to see whether it recuded the oscillations in the formation: This did produce lesserror and indeed drive the system closer to the desired interagent distance diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_2_free_space_maintain_3_uav/result_crazyflie_1_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_2_free_space_maintain_3_uav/result_crazyflie_1_logdata.bag index b129a403380b2d0b1b34618b232c09ff5ee1efb9..a6279086da6d39a6d7b089a9c8c90766ed0ee430 100644 Binary files a/real_robot/coordination_formation_control_pkg/results/experiment_2_free_space_maintain_3_uav/result_crazyflie_1_logdata.bag and b/real_robot/coordination_formation_control_pkg/results/experiment_2_free_space_maintain_3_uav/result_crazyflie_1_logdata.bag differ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_2_free_space_maintain_3_uav/result_crazyflie_2_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_2_free_space_maintain_3_uav/result_crazyflie_2_logdata.bag index ebaa52ee3379469ce1dc8e1b9ec92194abec02a1..d52ef185f3399dd17c2aa61d248c1b45f1295112 100644 Binary files a/real_robot/coordination_formation_control_pkg/results/experiment_2_free_space_maintain_3_uav/result_crazyflie_2_logdata.bag and b/real_robot/coordination_formation_control_pkg/results/experiment_2_free_space_maintain_3_uav/result_crazyflie_2_logdata.bag differ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_2_free_space_maintain_3_uav/result_crazyflie_3_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_2_free_space_maintain_3_uav/result_crazyflie_3_logdata.bag index f751a311bf4593ce58ece5f3c34aa1f8c0de914e..9345d6d657c867066405ffab1cfe1c26d41785b0 100644 Binary files a/real_robot/coordination_formation_control_pkg/results/experiment_2_free_space_maintain_3_uav/result_crazyflie_3_logdata.bag and b/real_robot/coordination_formation_control_pkg/results/experiment_2_free_space_maintain_3_uav/result_crazyflie_3_logdata.bag differ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_3_free_space_orientation_maintain_3_uav/notes.MD b/real_robot/coordination_formation_control_pkg/results/experiment_3_free_space_orientation_maintain_3_uav/notes.MD new file mode 100644 index 0000000000000000000000000000000000000000..d35044b8879d2b92f7786b410a930c6df5e1e451 --- /dev/null +++ b/real_robot/coordination_formation_control_pkg/results/experiment_3_free_space_orientation_maintain_3_uav/notes.MD @@ -0,0 +1,51 @@ +# Goal +- Maintain the current centroid +- X: 0 +- Y: 0 +- Vx: 0 +- Vy: 0 +- Orientation 0 + +Experiment premises +Formation control of 3 crazyflies center at 0,0 position and 0,0 velocity with orientation + +# comment on the results obtained during test + + + + +#Paramters +# Mission configuration +n_drones: 3 +n_ugvs: 0 +hz_freq: 50 # controller frquency +include_obstacle: false +include_orientation: true +n_obs: 0 +## Formation configuration +### Uav +uav_c1_alpha: 0.20 +uav_c2_alpha: 0.3 # this is recomputed +uav_c1_beta: 0.3 +uav_c2_beta: 0.1 # this is recomputed +uav_c1_gamma: 0.25 +uav_c2_gamma: 0.2 +uav_c1_theta: 0.2 +uav_c1_delta: 0.05 + + + +uav_d: 0.8 +uav_formation_t: 3 #/* type must be minimum 2, 3: tuangle formation, 4 suare, 5 pentagon*/ +uav_k: 7 +uav_ratio: 0.8 # /* ratio between dist inter and obstacle*/ +uav_eps: 0.1 +uav_a: 5 +uav_b: 5 +uav_h_alpha: 0.2 +uav_h_beta: 0.9 +uav_d_obs: 0 +uav_nav_type: 1 #/* convergence approach -1, parallel approach 2*/ +uav_integrator: 2 #/* single/ double integrator*/ +uav_dt: 0.1 #/* sample time*/ +uav_int_max: 0.01 #/* maximum integral*/ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_3_free_space_orientation_maintain_3_uav/result_crazyflie_1_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_3_free_space_orientation_maintain_3_uav/result_crazyflie_1_logdata.bag new file mode 100644 index 0000000000000000000000000000000000000000..a6279086da6d39a6d7b089a9c8c90766ed0ee430 Binary files /dev/null and b/real_robot/coordination_formation_control_pkg/results/experiment_3_free_space_orientation_maintain_3_uav/result_crazyflie_1_logdata.bag differ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_3_free_space_orientation_maintain_3_uav/result_crazyflie_2_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_3_free_space_orientation_maintain_3_uav/result_crazyflie_2_logdata.bag new file mode 100644 index 0000000000000000000000000000000000000000..d52ef185f3399dd17c2aa61d248c1b45f1295112 Binary files /dev/null and b/real_robot/coordination_formation_control_pkg/results/experiment_3_free_space_orientation_maintain_3_uav/result_crazyflie_2_logdata.bag differ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_3_free_space_orientation_maintain_3_uav/result_crazyflie_3_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_3_free_space_orientation_maintain_3_uav/result_crazyflie_3_logdata.bag new file mode 100644 index 0000000000000000000000000000000000000000..9345d6d657c867066405ffab1cfe1c26d41785b0 Binary files /dev/null and b/real_robot/coordination_formation_control_pkg/results/experiment_3_free_space_orientation_maintain_3_uav/result_crazyflie_3_logdata.bag differ diff --git a/real_robot/coordination_formation_control_pkg/results/topic_for_position_noise_cf2.bag b/real_robot/coordination_formation_control_pkg/results/topic_for_position_noise_cf2.bag new file mode 100644 index 0000000000000000000000000000000000000000..7d16626fde9b87a2bd6a1082d3309aec549fb005 Binary files /dev/null and b/real_robot/coordination_formation_control_pkg/results/topic_for_position_noise_cf2.bag differ