毕业设计&课设-四旋翼路径跟踪算法的基准。.zip

> Copyright (C) 2019 Bartomeu Rubí, Adrián Ruiz, Ramon Pérez, Bernardo Morcego > > Path-Flyer is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 3, or (at your option) any later version. > > Path-Flyer is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. > > You should have received a copy of the GNU General Public License along with the benchmark files. If not, see <http://www.gnu.org/licenses/>. > > Authors: Bartomeu Rubı́, Adrián Ruiz, Ramon Pérez, Bernardo Morcego. Specific Center of Research CS2AC at Universitat Politècnica de Catalunya (UPC). Rbla Sant Nebridi 22, Terrassa (Spain). ## Path-Flyer: A Benchmark of Quadrotor Path Following Algorithms This benchmark allows to compare multiple path following algorithms in the same scenarios with flexibility. Path-Flyer has been build upon the [Quad-Sim](https://github.com/dch33/Quad-Sim) platform, a quadrotor simulation tool developed on the Drexdel University for simulation and control of quadrotors. That is, it has been improved and modified to have a realistic mathematical and dynamic model of the quadrotor and its environment, to implement a proper structure to solve the path following problem and include various path following algorithms, and to incorporate new functionalities suited for the present benchmark. ### Features Some key features of Path-Flyer are: - It has a complete and experimentally validated model of the Asctec Hummingbird Quadrotor. - Wind disturbance and noise on the measured states are modeled and can be customized. - Four path following algorithms; Non-linear Guidance Law (NLGL), Carrot-Chasing and its adaptive versions have been implemented. - Path following algorithms can be tested in diverse simulation scenarios. - A user interface helps the user to modify test conditions and to explore simulation results. - It is modular and programmable, meaning that new path following algorithms and/or reference paths can be incorporated with ease. ### Documentation In the [User Guide](Documentation/UserGuide.pdf) it is found how to install the benchmark, how to use the user interface, how to modify parameters such as wind disturbance or noise, how to program a new algorithm and how to incorporate new path references. Hope you find it useful. If you have any doubts do not hesitate to contact us. ### Publication More information about the mathematical model of the quadrotor and its environment, the implemented path following algorithms and control structure, and the validation process of the Path-Flyer platform in the following publication: *Rubí B., Ruiz, A., Pérez, R. and Morcego, B. (2019). Path-Flyer: A Benchmark of Quadrotor Path Following Algorithms. In 2019 15th IEEE International Conference on Control and Automation (ICCA).*