磁気スケッチドローン制御
Magnisketch Drone Control
クアッドロータに磁気ペンを取り付け、MPCで描画軌道を生成して磁気ボード上に画像を描くシステムを開発した。
著者: Ashley Kline, Abirami Elangovan, Dominique Escandon, Scott Wade, Aatish Gupta
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
The use of Unmanned Aerial Vehicles (UAVs) for aerial tasks and environmental manipulation is increasingly desired. This can be demonstrated via art tasks. This paper presents the development of Magnasketch, capable of translating image inputs into art on a magnetic drawing board via a Bitcraze Crazyflie 2.0 quadrotor. Optimal trajectories were generated using a Model Predictive Control (MPC) formulation newly incorporating magnetic force dynamics. A Z-compliant magnetic drawing apparatus was designed for the quadrotor. Experimental results of the novel controller tested against the existing Position High Level Commander showed comparable performance. Although slightly outperformed in terms of error, with average errors of 3.9 cm, 4.4 cm, and 0.5 cm in x, y, and z respectively, the Magnasketch controller produced smoother drawings with the added benefit of full state control.