lighthouse定位系统入门教程-心电图飞行
说明
介绍如何实现单台无人机的心电图飞行
本文基于无人机多机套件主机测试
Crazyflie无人机集群套件,采购地址
仿真飞行:
- 生成心电图轨迹的点坐标的脚本
import numpy as np
import matplotlib.pyplot as plt
from mpl_toolkits.mplot3d import Axes3D
# Define ECG curve equation (e.g., sine wave)
t = np.linspace(0, 7*np.pi, 30)
z = 0.3 + 0.38 * np.sin(t) # Adjust amplitude and frequency as needed
x = 0.5 * t / (2*np.pi) # Scale y-axis to match height
y = np.zeros_like(t) # Set z-axis to 0 (assuming flat plane)
# Create 3D plot
fig = plt.figure()
ax = fig.add_subplot(111, projection='3d')
ax.plot(x, y, z)
# Save 3D coordinates to a file
data = np.column_stack((x, y, z))
np.savetxt('ecg_coordinates.csv', data, delimiter=',')
# Show plot (optional)
plt.show()
生成轨迹,参考
进入脚本目录
roscd crazyswarm/scripts/
- 脚本代码
#!/usr/bin/env python
import numpy as np
from pycrazyswarm import *
import uav_trajectory
if __name__ == "__main__":
swarm = Crazyswarm()
timeHelper = swarm.timeHelper
allcfs = swarm.allcfs
traj1 = uav_trajectory.Trajectory()
traj1.loadcsv("ecg_coordinates.csv")
TRIALS = 1
TIMESCALE = 1.0
for i in range(TRIALS):
for cf in allcfs.crazyflies:
cf.uploadTrajectory(0, 0, traj1)
allcfs.takeoff(targetHeight=0.5, duration=2.0)
timeHelper.sleep(2.5)
for cf in allcfs.crazyflies:
pos = np.array(cf.initialPosition) + np.array([0, 0, 0.5])
cf.goTo(pos, 0, 2.0)
timeHelper.sleep(2.5)
allcfs.startTrajectory(0, timescale=TIMESCALE)
timeHelper.sleep(traj1.duration * TIMESCALE + 2.0)
# allcfs.startTrajectory(0, timescale=TIMESCALE, reverse=True)
# timeHelper.sleep(traj1.duration * TIMESCALE + 2.0)
allcfs.land(targetHeight=0.06, duration=2.0)
timeHelper.sleep(3.0)
- 运行脚本
python3 ecg_coordinates.py --sim
- 启动后,无人机起飞0.5米,上下心电图飞行
真机飞行
1号无人机放置在基站测试区域中心
通过choose.py配置无人机,打开choose.py,勾选使用1号无人机
python3 chooser.py
- 终端下启动launch文件
roslaunch crazyswarm hover_swarm.launch
启动后,会弹出rviz,并显示对应的位置
新终端,启动脚本
python3 ecg_coordinates.py
演示视频
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