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Copy pathtestTrajectoryTracking.m
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testTrajectoryTracking.m
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%% test quadrotor trajectory generation and tracking in 3d
%% clear before running
close all; clear; clc;
%% add path
addpath(genpath('./trajectory_generation'), genpath('./controller'), genpath('./utils'), genpath('./model'));
%% configurations
% time
time = 0; % current time
t_step = 0.002; % time step for solving equations of motion
c_step = 0.01; % time step for controller
t_M = 30; % total time
display_ratio = 1.25;
figure_width = 1920 / display_ratio;
figure_height = 1080 / display_ratio;
figure_size = 800 / display_ratio;
figure_position = [
0.5 * (figure_width - figure_size), ...
0.5 * (figure_height - figure_size), ...
figure_size, ...
figure_size];
f1 = figure(1); set(f1, 'position', figure_position);
axis ([-5, 5, -5, 5]); grid on; hold on;
%% main process
% set points
waypoints = setPoints3(f1);
% get minimum snap trajectory
[poly_coef_x, poly_coef_y, poly_coef_z, ts, n_order, n_seg] = getMinimumSnap3(waypoints, t_M);
% extract from polynomial
k = 1;
for i = 0: n_seg - 1
Pxi = flipud(poly_coef_x((n_order + 1) * i + 1: (n_order + 1) * i + n_order + 1));
Pyi = flipud(poly_coef_y((n_order + 1) * i + 1: (n_order + 1) * i + n_order + 1));
Pzi = flipud(poly_coef_z((n_order + 1) * i + 1: (n_order + 1) * i + n_order + 1));
for t = 0: c_step: ts(i + 1)
x_des(k) = polyval(Pxi, t);
y_des(k) = polyval(Pyi, t);
z_des(k) = polyval(Pzi, t);
dx_des(k) = polyval(polyder(Pxi), t);
dy_des(k) = polyval(polyder(Pyi), t);
dz_des(k) = polyval(polyder(Pzi), t);
k = k + 1;
end
end
% parameters
params = quadModel_readonly();
% state
start = [x_des(1) + 1.0; y_des(1) - 1.0; 0.0]; % add some offsets
true_s = init_state(start);
% input
F = params.mass * params.grav;
M = [0; 0; 0];
% External disturbance
params.Fd = zeros(3, 1);
params.Md = zeros(3, 1);
fnoise = 0.1;
t_list = []; % time span
s_list = []; % state
r_list = []; % desired state
u_list = []; % input
d_list = []; % disturbance
a_list = []; % angle
%% start simulation
disp('Start Simulation ...');
while (time <= t_M)
% External disturbance
params.Fd = randn(3, 1) * fnoise;
params.Md = randn(3, 1) * fnoise;
% Run simulation for cstep
timeint = time: t_step: time + c_step;
[~, xsave] = ode45(@(t, s) quadEOM_readonly(t, s, F, M, params), timeint', true_s);
true_s = xsave(end, :)';
des_s = zeros(13, 1);
k = floor((time + c_step) / c_step);
des_s(1) = x_des(k);
des_s(2) = y_des(k);
des_s(3) = z_des(k);
des_s(4) = dx_des(k);
des_s(5) = dy_des(k);
des_s(6) = dz_des(k);
des_yaw = mod(0.1 * pi * time, 2 * pi);
bRw = RPYtoRot_ZXY(0.0, 0.0, des_yaw);
des_q = RotToQuat(bRw);
des_s(7: 10) = des_q;
[F, M] = controller(true_s, des_s, params);
t_list = [t_list; time];
s_list = [s_list; true_s'];
r_list = [r_list; des_s'];
u_list = [u_list; F, M'];
d_list = [d_list; params.Fd', params.Md'];
a = RotToRPY_ZXY_wrapper(QuatToRot(true_s(7: 10)))';
a_list = [a_list; a];
time = time + c_step;
end
disp('Finish Simulation ...');
%% visualization
f1 = figure(1); set(f1, 'position', figure_position);
grid on; hold on; view(45, 45); axis equal;
vis_init = false;
ifov = 90; % Camera field of view
% plot desired trajectory
trj_1 = plot3(x_des, y_des, z_des, 'Color', 'g', 'LineWidth', 2);
for i = 1:size(s_list, 1)
true_s = s_list(i, :)';
des_s = r_list(i, :)';
ll = 0.175;
rr = 0.1;
ff = 0.3;
nprop = 40;
propangs = linspace(0, 2 * pi, nprop);
tR = QuatToRot(true_s(7: 10))';
tpoint1 = tR * [ll; 0; 0];
tpoint2 = tR * [0; ll; 0];
tpoint3 = tR * [-ll; 0; 0];
tpoint4 = tR * [0; -ll; 0];
tproppts = rr * tR * [cos(propangs); sin(propangs); zeros(1, nprop)];
twp1 = true_s(1: 3) + tpoint1;
twp2 = true_s(1: 3) + tpoint2;
twp3 = true_s(1: 3) + tpoint3;
twp4 = true_s(1: 3) + tpoint4;
tprop1 = tproppts + twp1 * ones(1, nprop);
tprop2 = tproppts + twp2 * ones(1, nprop);
tprop3 = tproppts + twp3 * ones(1, nprop);
tprop4 = tproppts + twp4 * ones(1, nprop);
tfov0 = true_s(1: 3);
tfov1 = tR * [ff; ff * tan(ifov * pi / 180 / 2); ff * tan(ifov * pi / 180 / 2)] + true_s(1: 3);
tfov2 = tR * [ff; ff * tan(ifov * pi / 180 / 2); -ff * tan(ifov * pi / 180 / 2)] + true_s(1: 3);
tfov3 = tR * [ff; -ff * tan(ifov * pi / 180 / 2); -ff * tan(ifov * pi / 180 / 2)] + true_s(1: 3);
tfov4 = tR * [ff; -ff * tan(ifov * pi / 180 / 2); ff * tan(ifov * pi / 180 / 2)] + true_s(1: 3);
eR = QuatToRot(des_s(7:10))';
epoint1 = eR * [ll; 0; 0];
epoint2 = eR * [0; ll; 0];
epoint3 = eR * [-ll; 0; 0];
epoint4 = eR * [0; -ll; 0];
eproppts = rr * eR * [cos(propangs); sin(propangs); zeros(1, nprop)];
ewp1 = des_s(1: 3) + epoint1;
ewp2 = des_s(1: 3) + epoint2;
ewp3 = des_s(1: 3) + epoint3;
ewp4 = des_s(1: 3) + epoint4;
eprop1 = eproppts + ewp1 * ones(1, nprop);
eprop2 = eproppts + ewp2 * ones(1, nprop);
eprop3 = eproppts + ewp3 * ones(1, nprop);
eprop4 = eproppts + ewp4 * ones(1, nprop);
if ~vis_init
vis_init = true;
thtraj = plot3(true_s(1), true_s(2), true_s(3), 'b-', 'LineWidth', 3);
tharm1 = line([twp1(1), twp3(1)], [twp1(2), twp3(2)], [twp1(3), twp3(3)], 'Color', 'b');
tharm2 = line([twp2(1), twp4(1)], [twp2(2), twp4(2)], [twp2(3), twp4(3)], 'Color', 'b');
thprop1 = plot3(tprop1(1, :), tprop1(2, :), tprop1(3, :), 'r-');
thprop2 = plot3(tprop2(1, :), tprop2(2, :), tprop2(3, :), 'b-');
thprop3 = plot3(tprop3(1, :), tprop3(2, :), tprop3(3, :), 'b-');
thprop4 = plot3(tprop4(1, :), tprop4(2, :), tprop4(3, :), 'b-');
thfov1 = line([tfov0(1) tfov1(1) tfov2(1)], [tfov0(2) tfov1(2) tfov2(2)], [tfov0(3) tfov1(3) tfov2(3)], 'Color', 'k');
thfov2 = line([tfov0(1) tfov2(1) tfov3(1)], [tfov0(2) tfov2(2) tfov3(2)], [tfov0(3) tfov2(3) tfov3(3)], 'Color', 'k');
thfov3 = line([tfov0(1) tfov3(1) tfov4(1)], [tfov0(2) tfov3(2) tfov4(2)], [tfov0(3) tfov3(3) tfov4(3)], 'Color', 'k');
thfov4 = line([tfov0(1) tfov4(1) tfov1(1)], [tfov0(2) tfov4(2) tfov1(2)], [tfov0(3) tfov4(3) tfov1(3)], 'Color', 'k');
ehtraj = plot3(des_s(1), des_s(2), des_s(3), 'g-','LineWidth',3);
eharm1 = line([ewp1(1), ewp3(1)], [ewp1(2), ewp3(2)], [ewp1(3), ewp3(3)], 'Color', 'g');
eharm2 = line([ewp2(1), ewp4(1)], [ewp2(2), ewp4(2)], [ewp2(3), ewp4(3)], 'Color', 'g');
ehprop1 = plot3(eprop1(1, :), eprop1(2, :), eprop1(3, :), 'm-');
ehprop2 = plot3(eprop2(1, :), eprop2(2, :), eprop2(3, :), 'g-');
ehprop3 = plot3(eprop3(1, :), eprop3(2, :), eprop3(3, :), 'g-');
ehprop4 = plot3(eprop4(1, :), eprop4(2, :), eprop4(3, :), 'g-');
else
set(thtraj, 'XData', [get(thtraj, 'XData') true_s(1)]);
set(thtraj, 'YData', [get(thtraj, 'YData') true_s(2)]);
set(thtraj, 'ZData', [get(thtraj, 'ZData') true_s(3)]);
set(thprop1, 'XData', tprop1(1, :));
set(thprop1, 'YData', tprop1(2, :));
set(thprop1, 'ZData', tprop1(3, :));
set(thprop2, 'XData', tprop2(1, :));
set(thprop2, 'YData', tprop2(2, :));
set(thprop2, 'ZData', tprop2(3, :));
set(thprop3, 'XData', tprop3(1, :));
set(thprop3, 'YData', tprop3(2, :));
set(thprop3, 'ZData', tprop3(3, :));
set(thprop4, 'XData', tprop4(1, :));
set(thprop4, 'YData', tprop4(2, :));
set(thprop4, 'ZData', tprop4(3, :));
set(tharm1, 'XData', [twp1(1), twp3(1)]);
set(tharm1, 'YData', [twp1(2), twp3(2)]);
set(tharm1, 'ZData', [twp1(3), twp3(3)]);
set(tharm2, 'XData', [twp2(1), twp4(1)]);
set(tharm2, 'YData', [twp2(2), twp4(2)]);
set(tharm2, 'ZData', [twp2(3), twp4(3)]);
set(thfov1, 'XData', [tfov0(1) tfov1(1) tfov2(1)]);
set(thfov1, 'YData', [tfov0(2) tfov1(2) tfov2(2)]);
set(thfov1, 'ZData', [tfov0(3) tfov1(3) tfov2(3)]);
set(thfov2, 'XData', [tfov0(1) tfov2(1) tfov3(1)]);
set(thfov2, 'YData', [tfov0(2) tfov2(2) tfov3(2)]);
set(thfov2, 'ZData', [tfov0(3) tfov2(3) tfov3(3)]);
set(thfov3, 'XData', [tfov0(1) tfov3(1) tfov4(1)]);
set(thfov3, 'YData', [tfov0(2) tfov3(2) tfov4(2)]);
set(thfov3, 'ZData', [tfov0(3) tfov3(3) tfov4(3)]);
set(thfov4, 'XData', [tfov0(1) tfov4(1) tfov1(1)]);
set(thfov4, 'YData', [tfov0(2) tfov4(2) tfov1(2)]);
set(thfov4, 'ZData', [tfov0(3) tfov4(3) tfov1(3)]);
set(ehtraj, 'XData', [get(ehtraj, 'XData') des_s(1)]);
set(ehtraj, 'YData', [get(ehtraj, 'YData') des_s(2)]);
set(ehtraj, 'ZData', [get(ehtraj, 'ZData') des_s(3)]);
set(ehprop1,'XData', eprop1(1, :));
set(ehprop1,'YData', eprop1(2, :));
set(ehprop1,'ZData', eprop1(3, :));
set(ehprop2,'XData', eprop2(1, :));
set(ehprop2,'YData', eprop2(2, :));
set(ehprop2,'ZData', eprop2(3, :));
set(ehprop3,'XData', eprop3(1, :));
set(ehprop3,'YData', eprop3(2, :));
set(ehprop3,'ZData', eprop3(3, :));
set(ehprop4,'XData', eprop4(1, :));
set(ehprop4,'YData', eprop4(2, :));
set(ehprop4,'ZData', eprop4(3, :));
set(eharm1, 'XData', [ewp1(1), ewp3(1)]);
set(eharm1, 'YData', [ewp1(2), ewp3(2)]);
set(eharm1, 'ZData', [ewp1(3), ewp3(3)]);
set(eharm2, 'XData', [ewp2(1), ewp4(1)]);
set(eharm2, 'YData', [ewp2(2), ewp4(2)]);
set(eharm2, 'ZData', [ewp2(3), ewp4(3)]);
end
drawnow;
end