Hi,
I would like to move my UAV from point (0.0.0) to point (1.0.1.0). Then from point (1.0,1.0) to point (2.0,1.0) by inserting a multi-ranger in case there is an obstacle between the different positions. However, I can't find a command that allows me to do both actions at the same time. Can someone help me?
Thank you very much and have a nice day.
Multiranger
Re: Multiranger
Hi,
The Crazyflie has no collision avoidance algorithms so you will have to implement this part.
One way to go is to send high-level-commander goto set-points using the function cf.high_level_commander.go_to() (you can see it used in this example: https://github.com/bitcraze/crazyflie-l ... #L110-L130). This function returns directly so it will let you observe the multi-ranger readings while the Crazyflie is moving. If you detect an obstacle, you can change the trajectory of the Crazyflie by sending a new go_to setpoint. The algorithms used by the go_to will make a trajectory that starts from the current position and velocity and end at 0 velocity on the requested position, so this means that it allows you to smoothly change trajectory mid-way.
The way to generates the setpoints are up to your use-case. It might be possible to use a potential field approach or simply stop when you see an obstacle and use a simple state machine to run around the obstacle.
The Crazyflie has no collision avoidance algorithms so you will have to implement this part.
One way to go is to send high-level-commander goto set-points using the function cf.high_level_commander.go_to() (you can see it used in this example: https://github.com/bitcraze/crazyflie-l ... #L110-L130). This function returns directly so it will let you observe the multi-ranger readings while the Crazyflie is moving. If you detect an obstacle, you can change the trajectory of the Crazyflie by sending a new go_to setpoint. The algorithms used by the go_to will make a trajectory that starts from the current position and velocity and end at 0 velocity on the requested position, so this means that it allows you to smoothly change trajectory mid-way.
The way to generates the setpoints are up to your use-case. It might be possible to use a potential field approach or simply stop when you see an obstacle and use a simple state machine to run around the obstacle.