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AR Drone ROS
1. SC 626
AR Drone 2.0
AR Drone 2.0
Systems & Control Engineering
IIT Bombay
April 12, 2017
AR Drone 2.0, IIT Bombay 1/12
2. Tasks Done
Get familiarize with ROS, ardrone autonomy and Gazebo
Getting acquainted with the hardware
Experiments:
P1. Kinematic modelling in Matlab
P2. Open loop control
P3. Line follower
P4. Sensing the hollow obstacle & passing through it
AR Drone 2.0, IIT Bombay 2/12
4. Kinematic Model of AR Drone 2.0
The absolute linear position of the quadrotor is defined in
the inertial frame x,y,z-axes with ξ.
The attitude i.e. the angular position, is defined in the
inertial frame with three Euler angles η.
ξ =
x
y
z
, η =
φ
θ
ψ
, q =
ξ
η
AR Drone 2.0, IIT Bombay 4/12
5. Equations∗
˙η =
˙φ
˙θ
˙ψ
=
1 SφTθ CφTθ
0 Cφ −Sφ
0 Sφ/Cθ Cφ/Cθ
p
q
r
ν =
p
q
r
=
1 0 −Sθ
0 Cφ CθSφ
0 −Sφ CθCφ
˙φ
˙θ
˙ξ
˙ξ =
˙x
˙y
˙z
=
CψCθ CψSθSφ − SφCφ CψSθCφ + SψSφ
SψCθ SψSθSφ − CψCφ SψSθCφ − CψSφ
−Sθ CθSφ CθCφ
u
v
w
*Taken from ”Quadrotor Dynamics and Control Rev 0.1” by
Randal Beard
AR Drone 2.0, IIT Bombay 5/12
6. Open Loop Control
Figure 1 : Open Loop
Control Figure 2 : Algorithm
AR Drone 2.0, IIT Bombay 6/12