Quadcopter Stereo Camera Formation Control

This is a simulation of a Quadcopter Stereo Camera Formation Control that uses 3 different simulators: a linear simulator; a nonlinear quadcopter simulator; Gazebo/ROS simulator.

Authors: Jonathan Lwowski, Abhijit Majumdar, Patrick Benavidez, John J. Prevost, Mo Jamshidi

Laboratory: Autonomous Control Engineering Lab

University: The University of Texas at San Antonio

Link to Publication and Bibtex Citation

Coming Soon...

Dependencies

• Gazbeo/ROS (If using ROS/Gazebo Simulation)

  • ROS Kinetic
  • Hector Quadrotor

• Simulation of dynamics:

  • Numpy
  • Math
  • SciPy

• GUI:

  • Matplotlib
  • Matplotlib Mapping Toolkits

• Threading:

  • Time
  • Datetime
  • Threading

How to Download

Clone the repository (into catkin_ws if using ROS)

$ git clone https://github.com/jonlwowski012/Quadcopter_Stereo_Camera_Formation_Control.git

How to run Linear Simulation

Clone the repository, move into the directory, and run the code:

$ cd Quadcopter_Stereo_Camera_Formation_Control/Linear

State feedback formation control simulator:

$ python uav_model_sfb.py

PID formation control simulator:

$ python uav_model_pid.py

Model Predictive Control formation control simulator (Pick one below):

$ python uav_model_small_window_mpc.py
$ python uav_model_medium_window_mpc.py
$ python uav_model_large_window_mpc.py

Lyapunov Bang Bang (Not traditional bang bang) formation control simulator:

$ python uav_model_bang.py


## How to run Nonlinear Simulation
State feedback formation control simulator:
```sh
$ python multiquad_sim_SFB.py

PID formation control simulator:

$ python multiquad_sim_PID.py

Model Predictive Control formation control simulator (Pick one below):

$ python multiquad_sim_small_window_mpc.py
$ python multiquad_sim_medium_window_mpc.py
$ python multiquad_sim_large_window_mpc.py

Lyapunov Bang Bang (Not traditional bang bang) formation control simulator:

$ python multiquad_sim_bangbang.py

How to run Gazebo/ROS Simulation

Download and Install ROS Kinetic (http://wiki.ros.org/kinetic/Installation)

State feedback formation control simulator:

$ roslaunch GazeboSimulation SFB_Controller.launch 

PID formation control simulator:

$ roslaunch GazeboSimulation PID_Controller.launch 

Model Predictive Control formation control simulator (Pick one below):

$ roslaunch GazeboSimulation MPC_Small_Window_Controller.launch 
$ roslaunch GazeboSimulation MPC_Medium_Window_Controller.launch 
$ roslaunch GazeboSimulation MPC_Large_Window_Controller.launch 

Lyapunov Bang Bang (Not traditional bang bang) formation control simulator:

$ roslaunch GazeboSimulation BANG_Controller.launch 

Start the UAV Motors

$ rosservice call /uav1/enable_motors start
$ rosservice call /uav2/enable_motors start