无人机的四旋翼飞行器的动力学、控制和路径规划附matlab代码.zip

# quad-sim-vehicle-capture # About This repo holds code to simulate a quadrotor drone that is attempting to capture a target vehicle in the air. The main simulation file is found in `quad_simulation2v5`. I have also included past attempts and algorithms that are no longer in use (see the folders section below). A paper with all the math details and explanation will be provided once it is complete. # Running the simulation Run `startup` to set the path to use the necessary folders. Then run `quad_simulation2v5`. If you want to run an earlier version of the simulation, you will need to move it from the "old" folder. Depending on the version being run, the path may need to be changed to point to a folder with an older algorithm in it. # Folders * "common" holds all the functions that are common to every version of the simulation. This is currently just the physics equations that are used in the ODE solvers. * "old" holds old versions of the simulation (which generally use the same physics but different control and path planning algorithms). Also holds other old version of algorhtms that were either buggy, inefficient, or incomplete. * "path_planning" holds the algorithms to generate the path and follow the path. * "potential_field" holds algorithms for generating a path with a potential field method. These are no longer in use. * "proportional_navigation" holds algorithms for tracking a moving target with ideas from proportional navigation. These are no longer in use. * "symbolic" holds files that contain some symbolic calculations to test out new ideas and examine the feasability of some analytic calculations. None of these are used in the simulation. * "testing" holds scripts that were used to test algorithms as they were developed and refined without needing to run the entire simulation. To run the testing scripts, the path may need to be changed. * "trajectory_generation" holds algorithms that are used to generate the motion profile of the quadrotor.