This project addresses the design and the evaluation of an evolving autonomous fuzzy controller applied to the stabilization and the navigation of a quadcopter.
The fuzzy controller used in this project is an implementation of the Self-Evolving Parameter-Free Rule-Based Controller (SPARC) - an adaptive approach introduced in (Sadeghi-Tehran et al., 2012) - where no initial control rule or parameters are required prior to the initialization of the system.
Details about the control theory involved, implementation, evaluation of results and comparison to classical controllers can be found in our article, published in the conference proceedings of IFAC ICONS 2016.
The following video shows the application of our controllers in the stabilization and the navigation of a quadcopter in a simulated environment.
The vehicle starts with an empty set of rules, what means that it doesn't even know how to balance itself in the beginning of the mission. The controllers need to adapt and evolve in real time in order to minimize the error between the performed path and a predetermined reference.
Click the gif below to see the full video on youtube.
The main Python application and the V-REP robotics simulator Lua scripts have been tested solely on Mac OS X 10.10/10.11. However, since the main application has been written to be system independent, and V-REP runs also in Linux/Windows, the transition to these other operating systems should be smooth.
Working implementation
* Python 2.7 (Main application)
* Matplotlib (Plot simulation results)
* V-REP (Robotics simulator)
Not tested
* Matlab (Quadcopter model and controller)
Future Support
* Gazebo 7.1 (Robotics simulator)
Most of the working code has been written in Python 2.7, except for the V-REP scripts, that have been written in Lua, and the future Gazebo plugins, that will be written in C++. A matlab quadcopter model and a matlab fuzzy controller have also been written for preliminary tests, but they have not been tested or documented further since then.
An arduino folder, containing the implementation of a Kalman Filter for the input of an MPU6050 inertial measuremente unity, has also been kept into this repository for the eventual future deployment in a real quadcopter. This arduino code still needs a lot of improvement and testing, though.
The repository has been organized as follows:
.
├── LICENSE (MIT License File)
├── README.md (This file)
├── arduino (MPU6050 specs and Filter - Not Tested)
├── doc (Documentation and References)
├── matlab (Model and controller - Not Tested)
├── python
│ ├── py_quad_control (Evolving fuzzy controller and others)
│ └── run_sparc_test_drone.py (Script that controls the simulation model)
└─ vrep (V-REP simulator models and scenes)
├── models
└── scenes
Note that to run the simulation (as in the sample video), the arduino and the matlab source files are not required.
To run the simulation, you can choose to open one of the sample V-REP worlds
that we provide in vrep/scenes or create your own by simply importing the
provided quadcopter V-REP model from vrep/models/tfc_quad.ttm.
The following steps illustrate how to run the simulation with the world shown in the sample video:
- Open a terminal and run the controller server with the following command:
python2 run_sparc_test_drone.py 19923
-
Open V-REP, and in the
File->Open Scenemenu, navigate tovrep/scenesand openmission_mass.ttt. -
Start the simulation by cliking the
Playbutton. -
The quadcopter should start moving, controlled by the control server.
To set some high level options for the script, open
python/run_sparc_test_drone.py and edit the arguments of test_sparc_model.