diff --git a/real_robot/coordination_formation_control_pkg/config/missionConfig.yaml b/real_robot/coordination_formation_control_pkg/config/missionConfig.yaml index 4a4aa5ac617c151ef2268d71556fedac60d95bb0..a35d54c2fde0d9a6976a179a6595305af271f699 100644 --- a/real_robot/coordination_formation_control_pkg/config/missionConfig.yaml +++ b/real_robot/coordination_formation_control_pkg/config/missionConfig.yaml @@ -4,7 +4,7 @@ hz_freq: 50 # controller frquency include_obstacle: false include_orientation: false n_obs: 0 -log_name: "/home/spot/steven_master_ws/src/coordination_formation_control_pkg/results/experiment_4_free_space_maintain_3_uav/result" +log_name: "/home/spot/steven_master_ws/src/coordination_formation_control_pkg/results/experiment_5_free_space_maintain_3_uav/result" enable_log: true # waypoint diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_4_free_space_maintain_3_uav/notes.MD b/real_robot/coordination_formation_control_pkg/results/experiment_4_free_space_maintain_3_uav/notes.MD index afd5b30681f6609b2044bdec6c9030de47e664e8..68bddf6e0f29823e9a14874e15791603789404bd 100644 --- a/real_robot/coordination_formation_control_pkg/results/experiment_4_free_space_maintain_3_uav/notes.MD +++ b/real_robot/coordination_formation_control_pkg/results/experiment_4_free_space_maintain_3_uav/notes.MD @@ -11,7 +11,7 @@ Formation control of 3 crazyflies center at 0,0 position and 0,0 velocity withou reference with previous velocity reference, we integrate with current velocity measurement. To see if the result improves # comment on the results obtained during test - +The result is way more better in this case, using the current velocity instead of the velocity reference , it is probaly due to lack of divergence #Paramters @@ -31,7 +31,7 @@ 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_c1_delta: 0.07 diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_4_free_space_maintain_3_uav/result_crazyflie_1_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_4_free_space_maintain_3_uav/result_crazyflie_1_logdata.bag index a6279086da6d39a6d7b089a9c8c90766ed0ee430..7bef26fe3d477e3c1dd98d4f178a5bb6fbb9e1d4 100644 Binary files a/real_robot/coordination_formation_control_pkg/results/experiment_4_free_space_maintain_3_uav/result_crazyflie_1_logdata.bag and b/real_robot/coordination_formation_control_pkg/results/experiment_4_free_space_maintain_3_uav/result_crazyflie_1_logdata.bag differ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_4_free_space_maintain_3_uav/result_crazyflie_2_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_4_free_space_maintain_3_uav/result_crazyflie_2_logdata.bag index d52ef185f3399dd17c2aa61d248c1b45f1295112..55df334a2d548060f1c6860e88aecfc9d7862e6a 100644 Binary files a/real_robot/coordination_formation_control_pkg/results/experiment_4_free_space_maintain_3_uav/result_crazyflie_2_logdata.bag and b/real_robot/coordination_formation_control_pkg/results/experiment_4_free_space_maintain_3_uav/result_crazyflie_2_logdata.bag differ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_4_free_space_maintain_3_uav/result_crazyflie_3_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_4_free_space_maintain_3_uav/result_crazyflie_3_logdata.bag index 9345d6d657c867066405ffab1cfe1c26d41785b0..cf3e27f374b8020bbc034e764d7e5f958a007e11 100644 Binary files a/real_robot/coordination_formation_control_pkg/results/experiment_4_free_space_maintain_3_uav/result_crazyflie_3_logdata.bag and b/real_robot/coordination_formation_control_pkg/results/experiment_4_free_space_maintain_3_uav/result_crazyflie_3_logdata.bag differ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_4_free_space_orientation_maintain_3_uav/result_crazyflie_1_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_4_free_space_orientation_maintain_3_uav/result_crazyflie_1_logdata.bag deleted file mode 100644 index a6279086da6d39a6d7b089a9c8c90766ed0ee430..0000000000000000000000000000000000000000 Binary files a/real_robot/coordination_formation_control_pkg/results/experiment_4_free_space_orientation_maintain_3_uav/result_crazyflie_1_logdata.bag and /dev/null differ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_4_free_space_orientation_maintain_3_uav/result_crazyflie_2_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_4_free_space_orientation_maintain_3_uav/result_crazyflie_2_logdata.bag deleted file mode 100644 index d52ef185f3399dd17c2aa61d248c1b45f1295112..0000000000000000000000000000000000000000 Binary files a/real_robot/coordination_formation_control_pkg/results/experiment_4_free_space_orientation_maintain_3_uav/result_crazyflie_2_logdata.bag and /dev/null differ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_4_free_space_orientation_maintain_3_uav/result_crazyflie_3_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_4_free_space_orientation_maintain_3_uav/result_crazyflie_3_logdata.bag deleted file mode 100644 index 9345d6d657c867066405ffab1cfe1c26d41785b0..0000000000000000000000000000000000000000 Binary files a/real_robot/coordination_formation_control_pkg/results/experiment_4_free_space_orientation_maintain_3_uav/result_crazyflie_3_logdata.bag and /dev/null differ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_4_free_space_orientation_maintain_3_uav/notes.MD b/real_robot/coordination_formation_control_pkg/results/experiment_5_free_space_maintain_3_uav/notes.MD similarity index 76% rename from real_robot/coordination_formation_control_pkg/results/experiment_4_free_space_orientation_maintain_3_uav/notes.MD rename to real_robot/coordination_formation_control_pkg/results/experiment_5_free_space_maintain_3_uav/notes.MD index d35044b8879d2b92f7786b410a930c6df5e1e451..88231d076cc650a33873aaf5c8a8c16c59714d39 100644 --- a/real_robot/coordination_formation_control_pkg/results/experiment_4_free_space_orientation_maintain_3_uav/notes.MD +++ b/real_robot/coordination_formation_control_pkg/results/experiment_5_free_space_maintain_3_uav/notes.MD @@ -7,11 +7,10 @@ - Orientation 0 Experiment premises -Formation control of 3 crazyflies center at 0,0 position and 0,0 velocity with orientation +Formation control of 3 crazyflies center at 0,0 position and 0,0 velocity without orientation.The same as experiment 4 but # comment on the results obtained during test - - +The result is way more better in this case, using the current velocity instead of the velocity reference , it is probaly due to lack of divergence, does not improve the result at all, makes it worse #Paramters @@ -20,7 +19,7 @@ n_drones: 3 n_ugvs: 0 hz_freq: 50 # controller frquency include_obstacle: false -include_orientation: true +include_orientation: false n_obs: 0 ## Formation configuration ### Uav @@ -31,7 +30,7 @@ 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_c1_delta: 0.09 diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_5_free_space_maintain_3_uav/result_crazyflie_1_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_5_free_space_maintain_3_uav/result_crazyflie_1_logdata.bag new file mode 100644 index 0000000000000000000000000000000000000000..2a77f1a61b8947d7f97c7e664728307edfd1a79c Binary files /dev/null and b/real_robot/coordination_formation_control_pkg/results/experiment_5_free_space_maintain_3_uav/result_crazyflie_1_logdata.bag differ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_5_free_space_maintain_3_uav/result_crazyflie_2_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_5_free_space_maintain_3_uav/result_crazyflie_2_logdata.bag new file mode 100644 index 0000000000000000000000000000000000000000..a894cb504ea127ed052a201463f3b17f2f8692f7 Binary files /dev/null and b/real_robot/coordination_formation_control_pkg/results/experiment_5_free_space_maintain_3_uav/result_crazyflie_2_logdata.bag differ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_5_free_space_maintain_3_uav/result_crazyflie_3_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_5_free_space_maintain_3_uav/result_crazyflie_3_logdata.bag new file mode 100644 index 0000000000000000000000000000000000000000..d4e11d9977ec1e21df883f7a8da7b47b0c0c541e Binary files /dev/null and b/real_robot/coordination_formation_control_pkg/results/experiment_5_free_space_maintain_3_uav/result_crazyflie_3_logdata.bag differ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_6_free_space_orientaion_maintain_3_uav/notes.MD b/real_robot/coordination_formation_control_pkg/results/experiment_6_free_space_orientaion_maintain_3_uav/notes.MD new file mode 100644 index 0000000000000000000000000000000000000000..390b8d945494f5aa2f25062392f265b67a3f87d4 --- /dev/null +++ b/real_robot/coordination_formation_control_pkg/results/experiment_6_free_space_orientaion_maintain_3_uav/notes.MD @@ -0,0 +1,50 @@ +# 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 without orientation. The same as experiment 2 but instead of integrating to get the velocity +reference with previous velocity reference, we integrate with current velocity measurement. To see if the result improves + +# comment on the results obtained during test +Uses Paramters as expriment 4, but with orienation included + +#Paramters +# Mission configuration +n_drones: 3 +n_ugvs: 0 +hz_freq: 50 # controller frquency +include_obstacle: false +include_orientation: false +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: 0.07 + + + +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_6_free_space_orientaion_maintain_3_uav/result_crazyflie_1_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_6_free_space_orientaion_maintain_3_uav/result_crazyflie_1_logdata.bag new file mode 100644 index 0000000000000000000000000000000000000000..7bef26fe3d477e3c1dd98d4f178a5bb6fbb9e1d4 Binary files /dev/null and b/real_robot/coordination_formation_control_pkg/results/experiment_6_free_space_orientaion_maintain_3_uav/result_crazyflie_1_logdata.bag differ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_6_free_space_orientaion_maintain_3_uav/result_crazyflie_2_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_6_free_space_orientaion_maintain_3_uav/result_crazyflie_2_logdata.bag new file mode 100644 index 0000000000000000000000000000000000000000..55df334a2d548060f1c6860e88aecfc9d7862e6a Binary files /dev/null and b/real_robot/coordination_formation_control_pkg/results/experiment_6_free_space_orientaion_maintain_3_uav/result_crazyflie_2_logdata.bag differ diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_6_free_space_orientaion_maintain_3_uav/result_crazyflie_3_logdata.bag b/real_robot/coordination_formation_control_pkg/results/experiment_6_free_space_orientaion_maintain_3_uav/result_crazyflie_3_logdata.bag new file mode 100644 index 0000000000000000000000000000000000000000..cf3e27f374b8020bbc034e764d7e5f958a007e11 Binary files /dev/null and b/real_robot/coordination_formation_control_pkg/results/experiment_6_free_space_orientaion_maintain_3_uav/result_crazyflie_3_logdata.bag differ