lighthouse定位系统入门教程-圆形飞行

说明

• 介绍如何实现单台无人机的圆形飞行

• 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：

• 生成圆形轨迹的点坐标的脚本

import numpy as np
import matplotlib.pyplot as plt
from mpl_toolkits.mplot3d import Axes3D

# 参数设置
r = 0.2  # 圆的半径
num_points = 30  # 点的数量

# 生成圆的坐标
theta = np.linspace(0, 2 * np.pi, num_points)
x = r * np.cos(theta)
y = r * np.sin(theta)
z = np.zeros(num_points)  # 圆在平面上，z坐标为0

# 将坐标点输出到文件
with open('circle_coordinates.csv', 'w') as f:
    for i in range(num_points):
        f.write(f"{x[i]}, {y[i]}, {z[i]}\n")

# 绘制圆形图像
fig = plt.figure()
ax = fig.add_subplot(111, projection='3d')
ax.plot(x, y, z, label='circle')

ax.set_xlabel('X')
ax.set_ylabel('Y')
ax.set_zlabel('Z')
ax.legend()

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("circle0.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.land(targetHeight=0.06, duration=2.0)
        timeHelper.sleep(3.0)

• 运行脚本

python3 cricle0.py --sim

• 启动后，无人机起飞0.5米，圆形飞行

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 cricle0.py