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柳翊捷
無人機協同搬運
無人機協同搬運
無人機協同搬運
By
柳翊捷
・
Hsinchu, Hsinchu City, Taiwan
Connect
設計一個主機以及從機的系統,目的為協同搬運物品且彼此不互相交換訊息。特點為參考軌跡可即時計算更改,且兩台無人機之間不需要交換訊息,所以可以適應非常多變的情境。 其中必須估測施給物體的力,使用了 UKF 演算法 (unscented Kalman filters)。最後也有使用 Lyapunov function 進行穩定性證明。實驗以及模擬結果顯示這個控制器能夠有足夠好的表現使主機從機以理想軌跡搬運物體。 實驗過程中使用了 Avilon 飛控板(STM32) 串接 Upboard(微型電腦)完成。飛控板將無人機資訊(IMU、陀螺儀、磁力計)透過Uart傳送到 Upboard 透過 ROS(Robot Operating System) 架構進行運算量較大的 UKF 演算法,並將結果傳回飛控板並輸出 PWM 訊號給四顆馬達進行無人機控制。
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柳翊捷
Connect
Published: Dec 13th 2021
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Tools
GitHub
Git
Python
SSH
Ubuntu
Vim
C++
C
自動化
協同搬運
非線性控制
四軸無人機
無人機
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