Advanced Robotic Vehicles Programming - An Ardupilot and Pixhawk Approach
Learn how to program robotic vehicles with ardupilot libraries and pixhawk autopilot, both of which are open source technologies with a global scope. This book is focused on quadcopters but the knowledge is easily extendable to three-dimensional vehicles such as drones, submarines, and rovers. Pixha...
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| Médium: | E-kniha Kniha |
| Jazyk: | angličtina |
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Berkeley, CA
Apress, an imprint of Springer Nature
2020
Apress Apress L. P |
| Vydání: | 1 |
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| ISBN: | 1484255305, 9781484255308, 9781484255315, 1484255313 |
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| Abstract | Learn how to program robotic vehicles with ardupilot libraries and pixhawk autopilot, both of which are open source technologies with a global scope. This book is focused on quadcopters but the knowledge is easily extendable to three-dimensional vehicles such as drones, submarines, and rovers. Pixhawk and the ardupilot libraries have grown dramatically in popularity due to the fact that the hardware and software offer a real-time task scheduler, huge data processing capabilities, interconnectivity, low power consumption, and a global developer support. This book shows you how take your robotic programming skills to the next level. From hardware to software, this book links theory with practice in the development of unmanned vehicles. By the end of this book, you'll learn the pixhawk software and ardupilot libraries to develop your own autonomous vehicles. |
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| AbstractList | Learn how to program robotic vehicles with ardupilot libraries and pixhawk autopilot, both of which are open source technologies with a global scope. This book is focused on quadcopters but the knowledge is easily extendable to three-dimensional vehicles such as drones, submarines, and rovers. Pixhawk and the ardupilot libraries have grown dramatically in popularity due to the fact that the hardware and software offer a real-time task scheduler, huge data processing capabilities, interconnectivity, low power consumption, and a global developer support. This book shows you how take your robotic programming skills to the next level. From hardware to software, this book links theory with practice in the development of unmanned vehicles. By the end of this book, you'll learn the pixhawk software and ardupilot libraries to develop your own autonomous vehicles. Learn how to program robotic vehicles with ardupilot libraries and pixhawk autopilot, both of which are open source technologies with a global scope. This book is focused on quadcopters but the knowledge is easily extendable to three-dimensional vehicles such as drones, submarines, and rovers.Pixhawk and the ardupilot libraries have grown dramatically in popularity due to the fact that the hardware and software offer a real-time task scheduler, huge data processing capabilities, interconnectivity, low power consumption, and a global developer support. This book shows you how take your robotic programming skills to the next level. From hardware to software, Advanced Robotic Vehicles Programming links theory with practice in the development of unmanned vehicles. By the end of this book, you'll learn the pixhawk software and ardupilot libraries to develop your own autonomous vehicles. What You'll Learn Model and implement elementary controls in any unmanned vehicle Select hardware and software components during the design process of an unmanned vehicle Use other compatible hardware and software development packages Understand popular scientific and technical nomenclature in the field Identify relevant complexities and processes for the operation of an unmanned vehicle Who This Book Is For Undergraduate and graduate students, researchers, makers, hobbyists, and those who want to go beyond basic programming of an Arduino for any kind of robotic vehicle. Learn how to program robotic vehicles with ardupilot libraries and pixhawk autopilot, both of which are open source technologies with a global scope. This book is focused on quadcopters but the knowledge is easily extendable to three-dimensional vehicles such as drones, submarines, and rovers.Pixhawk and the ardupilot libraries have grown dramatically in popularity due to the fact that the hardware and software offer a real-time task scheduler, huge data processing capabilities, interconnectivity, low power consumption, and a global developer support. This book shows you how take your robotic programming skills to the next level. From hardware to software, Advanced Robotic Vehicles Programming links theory with practice in the development of unmanned vehicles. By the end of this book, you’ll learn the pixhawk software and ardupilot libraries to develop your own autonomous vehicles. What You'll Learn Model and implement elementary controls in any unmanned vehicleSelect hardware and software components during the design process of an unmanned vehicleUse other compatible hardware and software development packages Understand popular scientific and technical nomenclature in the field Identify relevant complexities and processes for the operation of an unmanned vehicle Who This Book Is For Undergraduate and graduate students, researchers, makers, hobbyists, and those who want to go beyond basic programming of an Arduino for any kind of robotic vehicle. |
| Author | Mendez-Martinez, Mauricio Gonzalez-Villela, Victor Javier Mendoza-Mendoza, Julio Alberto Sossa-Azuela, Humberto Sepulveda-Cervantes, Gabriel |
| Author_xml | – fullname: Sepulveda-Cervantes Gabriel – fullname: Mendez-Martinez Mauricio – fullname: Mendoza-Mendoza Julio Alberto – fullname: Gonzalez-Villela Victor – fullname: Sossa-Azuela Humberto |
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| ContentType | eBook Book |
| Copyright | 2020 Julio Alberto Mendoza-Mendoza, Victor Gonzalez-Villela 2020 |
| Copyright_xml | – notice: 2020 – notice: Julio Alberto Mendoza-Mendoza, Victor Gonzalez-Villela 2020 |
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| Notes | Includes bibliographical references and index |
| OCLC | 1140790167 |
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| PageCount | 452 |
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| Snippet | Learn how to program robotic vehicles with ardupilot libraries and pixhawk autopilot, both of which are open source technologies with a global scope. This book... |
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| SubjectTerms | Computer Science Hardware and Maker Machine Design Mechanics & Mechanical Engineering Professional and Applied Computing Programming Languages Robots-Programming Software Engineering |
| TableOfContents | Title Page
Clause of Responsibilities
Warning
Prior Knowledge
Expected Results
Licenses
Table of Contents
1. Hardware and Software Description
2. ArduPilot Working Environment
3. Concepts and Definitions
4. Basic Input and Output Operations
5. Advanced Operations
6. Quadcopter Control with Smooth Flight Mode
7. Real-Time Working Environment
8. Compendium of the Previous Chapters in Real Time with Application Code
Appendices
Index ArduPilot Usual Parts in Real-Time Mode/Scheduler Mode -- Measuring the Execution Time of a Task -- Chapter Summary -- Chapter 8: Compendium of the Previous Chapters in Real Time with Application Code -- Module radio.pde -- Module control.pde -- Module Data.pde -- Module Pose.pde -- Chapter Summary -- Part 3 References -- Appendix 1: Comparison of Commands with Other SDKs -- Appendix 2: Setup Extended Code -- Appendix 3: Extended Header -- Appendix 4: The Fully Functional Code -- Appendix 5: Helpful Keywords -- Appendix 6: Installing ArduPilot Libraries -- "Generic" Procedure -- Installation Procedure -- Compiling the Libraries -- Interface Customization and Recompilation from the Preloaded Version of the Eclipse Editor -- Uploading ∗ .px4 Files to the Autopilot -- Terminal Test of the Previously Loaded Program -- References and Suggested Websites -- Appendix 7: Thrust Vectoring -- Appendix 8: Omnidirectionality -- References and Suggested Websites -- Appendix 9: Extended Power Methods -- References and Suggested Websites -- Appendix 10: Summary of the Design of a Quadcopter -- Vehicle Design -- Autopilot Selection -- Selection of the Remote Control -- References and Websites -- Appendix 11: Working with Header Files -- Index Intro -- Table of Contents -- About the Authors -- Acknowledgments -- Clause of Responsibilities -- Foreword -- Warning -- Prior Knowledge -- Expected Results -- Licenses -- Part I: Introduction -- Chapter 1: Hardware and Software Description -- Autopilot -- Kinds of Autopilot: SDK vs. GUI -- Kinds of SDKs -- Pixhawk Autopilot (Hardware) -- Clones vs. Originals -- Commercial Autopilot vs. Your Own Design -- ArduPilot Libraries (Software) -- Compatibilities and Similar Projects -- Confusion Between Hardware and Software? -- Chapter Summary -- Chapter 2: ArduPilot Working Environment -- File Types Related to ArduPilot Libraries -- Specific Data Types -- Implementation Tip: PPM, PWM, 1000, or 2000? -- Description and Flow of the Programs Used -- Coding and Compiling -- Connection and Loading Interface -- Physical Execution -- Display -- Feedback -- Uploading Custom Code to the Autopilot -- Making New Projects by Using Eclipse -- Error Checking -- Is It Feasible to Use Arduino Directly with ArduPilot Libraries? -- Chapter Summary -- Chapter 3: Concepts and Definitions -- Auxiliary Components -- Brushless Motors -- ESC -- Propellers -- Frame -- Special Connectors -- Telemetry Module (Wireless Serial Communication) -- LIPO Battery -- Battery Tester or Battery Monitor -- GPS Module -- Distributor -- Power Module -- Silicon Wire -- Thermofit -- Fasteners -- Passive Antivibration Modules -- Remote Control -- Embedded On-Board Computer -- Special Pixhawk Components -- Computational Efficiency Against Mathematical Equality -- Working with Variables, Functions, Modules, and Objects -- Variable -- Structure -- Function -- Module -- Getter and Setter Concepts -- Concepts of Orientation and Position -- Attention: Difference Between Installation and Coding -- Usual Parts of ArduPilot Code -- Usual Models for Programming ArduPilot Code -- Chapter Summary Part 1 References and Suggested Websites -- Part II: Sequential Operation Mode -- Chapter 4: Basic Input and Output Operations -- About the Header -- About the Setup -- Writing to the Terminal -- Terminal Reading -- Radio Reading -- Auxiliary Channels and Introduction to State Machines -- Position and Orientation Internal Sensors Reading -- External Position Sensors Reading (GPS) -- Reading Analog Sensors -- Signals Filtering -- Digital Reading and Writing -- Battery Reading -- Using Visual Alerts Through the Main LED -- Chapter Summary -- Chapter 5: Advanced Operations -- Wired and Wireless Serial Communication -- Communication Procedure -- Procedures for Sending Data -- Data Verification Procedure -- Description of a Basic Checksum Method -- Description of the XOR Checksum Method -- Polling -- Reading from External Devices Through Serial Communication and Development Boards -- Writing to Brushless Motors (BLDC Motors) -- Code Optimization -- Simplified Function for Writing to Motors -- Writing to Standard DC Motors (Brushed) -- Using Stepper Motors -- Using Servomotors for Auxiliary Tasks -- Summary of ArduPilot Compatible Motors -- Data Use and Storage -- Using the Mission Planner GUI to Plot SD Data -- Time Management -- Chapter Summary -- Chapter 6: Quadcopter Control with Smooth Flight Mode -- Basic Modeling of a Multicopter -- Second Example: Bicopter (with Coaxial Motors Analysis) -- Velocity Kinematic Relations -- Dynamic Translation Equations -- Dynamic Rotational Equations -- Flight Modes -- Decoupled Tasks -- Control Methods -- Closed Loop vs. Open Loop -- Saturated PD Control (Soft-Mode Basic Control of Flight) -- Drone Flight Implementation -- Chapter Summary -- Part 2 References -- Part III: Real-Time Mode -- Chapter 7: Real-Time Working Environment -- Linker -- Scheduler Description |
| Title | Advanced Robotic Vehicles Programming - An Ardupilot and Pixhawk Approach |
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