WOLFRAM SYSTEM MODELER
ReferenceTrajectoriesPlanned trajectories for quadrotor position |
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SystemModel["Aircraft.Utilities.Trajectories.ReferenceTrajectories"]
Planar trajectory introduces reference pre-defined path shapes for the quadrotor model. It calculate the the path based on the simple equations for the circular and lemniscate (infinity and eight) trajectory and set up as output the x, y and z position. The trajectroty is planar means that after take off to the final amplitude and hover it starts to create an specific path is x-y plane. the path is parametrized so that, the user can set it up. When choosing the trajectory type, the necessary path parameters will be displayed and can be configured.
Figure 1: Circular motion trajectory.
The circular path encompasses three phases: takeoff, lateral movement to point "3" by a distance equal to the radius, and planar circular motion. The required parameters for configuration are as follows:
Figure 2: Lemniscate motion (infinity) trajectory.
Both infinity and eight paths adhere to the lemniscate path algorithm. The only difference lies in the exchange of the x and y path equations between them. Lemniscate path consits of two phases: takeoff, lemniscate motion. The required parameters for configuration are as follows:
Note: The period of both movements is determined by the quadrotor and controller speeds,and this period should be adjusted according to the specific quadrotor design.
trajectoryType |
Value: Type: TrajectoryType Description: Type of the trajectory |
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heightAmplitude |
Value: 2.0 Type: Length (m) Description: Final vertical height |
heightStartTime |
Value: 1.0 Type: Time (s) Description: Take off start time |
radius |
Value: 2.0 Type: Length (m) Description: Radius of the circular trajectory |
period |
Value: 10 Type: Period (s) Description: Time required to trace one complete shape (cycle) |
startTime |
Value: 7.0 Type: Time (s) Description: Time to move from the center to the starting position for circular motion |
circularElapseTime |
Value: 5.0 Type: Time (s) Description: Start time of the circular trajectory after hover |
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positionRef |
Type: RealOutput[3] Description: Reference position of the selected trajectory |
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Aircraft.Examples Circular path tracking by a quadrotor |