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Mohamed Amine BELYAMANI on 19 Jul 2020
Commented: Zahid Abbas on 30 Sep 2020 at 10:50
Hello Everyone,
I'm working on autonomous quadrotor, and I'm having problems with trajectory generation. I started initially with waypoints for take off and hovering.
function P = Trajectory(X)
% X is the measurement from the drone.
Z = X(3);
Zd = X(6);
Z_des = 5; % desired height is set at 5 meters
Zd_des = 11; % desired speed is set at 11 m/s
P = [0 0 Z_des 0 0 Zd_des 0 0 0 0 0 0 ];
% when the drone reaches the desired height, It should hover over the point, So I set the linear velocity at 0 m/s
if Z_des == z
P = [0 0 Z_des 0 0 0 0 0 0 0 0 0];
end
end
I want to start generating complex trajectories.
I'm wondering how I should develop these trajectories using waypoitns ?

#### 1 Comment

Zahid Abbas on 30 Sep 2020 at 10:50
Hello Mohamed I am working on making a waypoint follower for multi agent system for testing my optimized algorithm can u help in this regard on what direction should I follow

Image Analyst on 19 Jul 2020
I don't know what "waypoitns" is, but for what it's worth, I'm attaching my trajectory/projectile program that computes a ton of stuff about a projectile.

#### 1 Comment

Mohamed Amine BELYAMANI on 20 Jul 2020
I'm sorry waypoints.
Thank you.

Cam Salzberger on 20 Jul 2020
Hey Mohamed,
Have you looked into the uavWaypointFollower and its Simulink block equivalent in Robotics System Toolbox's UAV Library? It's not exactly trajectory generation, but it may be more useful to your end goal.
-Cam

#### 1 Comment

Mohamed Amine BELYAMANI on 21 Jul 2020
Yes, It is a useful tool to work with, but considering complex trajectories or/and obstacle avoindance, I might need a script that take into account different factors while generating trajectories.
From now the main objective is how to generate a set of waypoints so I can :
• make the drone follow up on each step time given.
• derive velocity and acceleration as to generate desired Euler angles and angulare rates.