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⛄ 内容介绍
We present in this paper a decentralized multirobot (aerial and ground) cooperation scheme for objects transportation. A team of ground mobile robots guided by a drone and a human operator moves in a coordinated way keeping a predefined formation in order to carry objects (tools, gas masks,...) in unsafe industrial areas. One ground mobile robot (leader) navigates among obstacles thanks to the waypoints provided by the drone and the human operator. The other ground mobile robots (followers) use a predictive vision based target tracking controller to keep a certain distance and bearing to the leader.
⛄ 部分代码
% 绘图函数
% 将 Simulink 仿真后，导出到工作空间的数据，进行绘制成 3D 图，方便观察
dataBegin = 1;
dataEnd = 300;
% 截取数据
tdata = tout(dataBegin:dataEnd);
LXdata = getdatasamples(XL, (dataBegin:dataEnd));
LYdata = getdatasamples(YL, (dataBegin:dataEnd));
% 绘制关于时间 3D 图
figure(1)
% 所有踪迹
subplot(2,2,1);
plot3(tdata, LXdata, LYdata, 'linewidth',1.5, 'color','red'); hold on
title('All Trajectory');
xlabel('t'); ylabel('x'); zlabel('y');
legend('Leader');
grid on
subplot(2,2,2);
plot3(tdata, LXdata, LYdata, 'linewidth',1.5, 'color','red'); hold on
title('All Trajectory');
xlabel('t'); ylabel('x'); zlabel('y');
legend('Leader');
grid on
subplot(2,2,3);
plot3(tdata, LXdata, LYdata, 'linewidth',1.5, 'color','red'); hold on
title('All Trajectory');
xlabel('t'); ylabel('x'); zlabel('y');
legend('Leader');
grid on
subplot(2,2,4);
plot3(tdata, LXdata, LYdata, 'linewidth',1.5, 'color','red'); hold on
title('All Trajectory');
xlabel('t'); ylabel('x'); zlabel('y');
legend('Leader');
grid on
⛄ 运行结果
⛄ 参考文献
[1] Harik E , Franois Guérin, Guinand F , et al. UAV-UGV Cooperation For Objects Transportation In An Industrial Area[C]// IEEE International Conference on Industrial Technology. IEEE, 2015.
