Chance constrained MPC for unmanned aerial vehicle flight control with consideration of wind speed and direction. This MPC is intended to be used with a dispersion model identified through flight experiments. The model predicts the distribution of vermiculite dispensed from a hovering drone given the drone’s movement state, wind condition, and dispenser setting.
The video of our experiment is available on YouTube (click):
This code has only been tested on Ubuntu 20.04 with ROS Noetic. ROS2 currently is not supported.
Step 1. Setup your computer to accept software from packages.ros.org.
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
Step 2. Set up your keys.
sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
Step 3. First, make sure your Debian package index is up-to-date.
sudo apt update
Now install the ROS:
sudo apt install ros-noetic-desktop-full
Step 4. You must source this script in every bash terminal you use ROS in.
source /opt/ros/noetic/setup.bash
Step 5. To install this tool and other dependencies for building ROS packages, run:
sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
Step 6. Install rosdep and initialize rosdep.
sudo apt install python3-rosdep
sudo rosdep init
rosdep update
Na Ma, Anil Mantri, Graham Bough, Ayush Patnaik, Siddhesh Yadav, Christian Nansen and Zhaodan Kong, Data-Driven Vermiculite Distribution Modelling for UAV-Based Precision Pest Management, Frontiers in Robotics and AI.
Na Ma, Anil Mantri, Graham Bough, Ayush Patnaik, Siddhesh Yadav, Christian Nansen and Zhaodan Kong, Data-Driven Vermiculite Distribution Modelling for UAV-Based Precision Pest Management, Frontiers in Robotics and AI.
@article{10.3389/frobt.2022.854381,
title={Data-driven vermiculite distribution modelling for UAV-based precision pest management},
author={Ma, Na and Mantri, Anil and Bough, Graham and Patnaik, Ayush and Yadav, Siddhesh and Nansen, Christian and Kong, Zhaodan},
journal={Frontiers in Robotics and AI},
volume={9},
year={2022},
url={https://www.frontiersin.org/articles/10.3389/frobt.2022.854381},
doi={10.3389/frobt.2022.854381}
}
This project is funded by California Department of Pesticide Regulation.
The source code is released under GPLv3 license.