diff --git a/real_robot/coordination_formation_control_pkg/config/crazyfliesConfig.yaml b/real_robot/coordination_formation_control_pkg/config/crazyfliesConfig.yaml index 1fb653cfd23bffd19295874468cfa376c9ca07c9..8d7912f8688fa833d2f7f81712501c026589cbef 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/formationConfig.yaml b/real_robot/coordination_formation_control_pkg/config/formationConfig.yaml index 92700003cc8bc762f7cd2cbb61febf33ef05fdea..7bbb2ce78bd755623ecf8e7cff2b40adf2ec2106 100644 --- a/real_robot/coordination_formation_control_pkg/config/formationConfig.yaml +++ b/real_robot/coordination_formation_control_pkg/config/formationConfig.yaml @@ -6,7 +6,7 @@ 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 # uav_c1_alpha: 0.035 # uav_c2_alpha: 0.04 # this is recomputed diff --git a/real_robot/coordination_formation_control_pkg/config/missionConfig.yaml b/real_robot/coordination_formation_control_pkg/config/missionConfig.yaml index fb3531f3f33fe2ad9bc64b3691352b7b980d457d..d183a5fecf12754fc8bb3dce2c88c13210056eec 100644 --- a/real_robot/coordination_formation_control_pkg/config/missionConfig.yaml +++ b/real_robot/coordination_formation_control_pkg/config/missionConfig.yaml @@ -2,9 +2,9 @@ n_drones: 3 n_ugvs: 0 hz_freq: 50 # controller frquency include_obstacle: false -include_orientation: true +include_orientation: false n_obs: 0 -log_name: "/home/spot/steven_master_ws/src/coordination_formation_control_pkg/results/experiment_2_free_space_maintain_3_uav/result" +log_name: "/home/spot/steven_master_ws/src/coordination_formation_control_pkg/results/experiment_3_free_space_maintain_3_uav/result" enable_log: true # waypoint diff --git a/real_robot/coordination_formation_control_pkg/results/General_comment b/real_robot/coordination_formation_control_pkg/results/General_comment new file mode 100644 index 0000000000000000000000000000000000000000..e9d459500ef760e16038f9d0a2059fe53fd166ea --- /dev/null +++ b/real_robot/coordination_formation_control_pkg/results/General_comment @@ -0,0 +1,3 @@ +#Gneral comments observed during experiments +- It is diffult to tune especially in real life, because every time you modify a gain, the experiment has to be performed again. Even a good simulation model could not take into consideration +the effect of random jumps from the positioning system. This observation might be wrong diff --git a/real_robot/coordination_formation_control_pkg/results/experiment_3_free_space_maintain_3_uav/notes.MD b/real_robot/coordination_formation_control_pkg/results/experiment_3_free_space_maintain_3_uav/notes.MD new file mode 100644 index 0000000000000000000000000000000000000000..8efe45a898e9aa750bcfe4d765435a2a0f221786 --- /dev/null +++ b/real_robot/coordination_formation_control_pkg/results/experiment_3_free_space_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 without orientation. The same as experiment 2 but increased the integral action gain to see it any result is obtained. + +# comment on the results obtained during test +We increased the integration action gain 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 + + + +#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: 0.09 + + + +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_maintain_3_uav/result_crazyflie_1_logdata.bag similarity index 100% rename from real_robot/coordination_formation_control_pkg/results/experiment_3_free_space_orientation_maintain_3_uav/result_crazyflie_1_logdata.bag rename to real_robot/coordination_formation_control_pkg/results/experiment_3_free_space_maintain_3_uav/result_crazyflie_1_logdata.bag 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_maintain_3_uav/result_crazyflie_2_logdata.bag similarity index 100% rename from real_robot/coordination_formation_control_pkg/results/experiment_3_free_space_orientation_maintain_3_uav/result_crazyflie_2_logdata.bag rename to real_robot/coordination_formation_control_pkg/results/experiment_3_free_space_maintain_3_uav/result_crazyflie_2_logdata.bag 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_maintain_3_uav/result_crazyflie_3_logdata.bag similarity index 100% rename from real_robot/coordination_formation_control_pkg/results/experiment_3_free_space_orientation_maintain_3_uav/result_crazyflie_3_logdata.bag rename to real_robot/coordination_formation_control_pkg/results/experiment_3_free_space_maintain_3_uav/result_crazyflie_3_logdata.bag 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 new file mode 100644 index 0000000000000000000000000000000000000000..8a219bb2f4cdba5911e375752b9fed71ddbf8159 --- /dev/null +++ b/real_robot/coordination_formation_control_pkg/results/experiment_4_free_space_maintain_3_uav/notes.MD @@ -0,0 +1,52 @@ +# 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 insetead of integrating to get the velocity +reference with previous velocity reference, we integrate with current velocity mesurement. To see if the result improves + +# 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: This did produce lesserror and indeed drive the system closer to the desired interagent distance + + + +#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: 0.05 + + + +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_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 new file mode 100644 index 0000000000000000000000000000000000000000..a6279086da6d39a6d7b089a9c8c90766ed0ee430 Binary files /dev/null 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 new file mode 100644 index 0000000000000000000000000000000000000000..d52ef185f3399dd17c2aa61d248c1b45f1295112 Binary files /dev/null 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 new file mode 100644 index 0000000000000000000000000000000000000000..9345d6d657c867066405ffab1cfe1c26d41785b0 Binary files /dev/null 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_3_free_space_orientation_maintain_3_uav/notes.MD b/real_robot/coordination_formation_control_pkg/results/experiment_4_free_space_orientation_maintain_3_uav/notes.MD similarity index 100% rename from real_robot/coordination_formation_control_pkg/results/experiment_3_free_space_orientation_maintain_3_uav/notes.MD rename to real_robot/coordination_formation_control_pkg/results/experiment_4_free_space_orientation_maintain_3_uav/notes.MD 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 new file mode 100644 index 0000000000000000000000000000000000000000..a6279086da6d39a6d7b089a9c8c90766ed0ee430 Binary files /dev/null and b/real_robot/coordination_formation_control_pkg/results/experiment_4_free_space_orientation_maintain_3_uav/result_crazyflie_1_logdata.bag 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 new file mode 100644 index 0000000000000000000000000000000000000000..d52ef185f3399dd17c2aa61d248c1b45f1295112 Binary files /dev/null and b/real_robot/coordination_formation_control_pkg/results/experiment_4_free_space_orientation_maintain_3_uav/result_crazyflie_2_logdata.bag 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 new file mode 100644 index 0000000000000000000000000000000000000000..9345d6d657c867066405ffab1cfe1c26d41785b0 Binary files /dev/null and b/real_robot/coordination_formation_control_pkg/results/experiment_4_free_space_orientation_maintain_3_uav/result_crazyflie_3_logdata.bag differ