Drone - Circular Motion

1 collaborator

WHAT IS IT?

Simulation model of a drone in a circular motion around a target using system dynamics and agent-based technologies. The simulation was used as classroom material for the Mathematics I lectures taught by the author at the Bachelor in Aeronautical Management (https://www.ulusofona.pt/en/undergraduate/aeronautical-management) at Lusophone University of Humanities and Technologies's "School of the Economic Sciences and Organizations".

The full lecture materials, including webinars (in Portuguese) are available at: https://sites.google.com/view/systemdynamics/

HOW IT WORKS

The drone turns and moves in the direction of motion, the motion is determined by two coordinates, x and y, in the agent section the algorithm sets the heading to the computed value of x and y and moves the agent in that direction, the values of the x and y coordinates are obtained in the system dynamics modeling tab. The angular velocity is set to v*t + v0, where v and v0 are parameters that the user can set in the corresponding sliders. These sliders can be set to either positive or negative values, providing for discussion material in class on angular velocity and the motion of the drone.

The angle is the integral of the angular velocity, so that we get for the x and y coordinates:

x(t) = radius * cos(angle(t)) y(t) = radius * sin(angle(t))

The radius is a variable that the user can set in the system dynamics modeling tab.

As a result of this framework the agent will move in a circle around the center with the set radius.

The initial angle is set to 0.

The user can optionally choose if the trajectory is to be drawn by the drone.

HOW TO USE IT

If the velocity parameter v is set to 0, then, the agent/drone/robot moves in a circular path around the center with constant angular velocity, since the angular velocity is equal to v0, in this case, the numeric integration leads will approximate the dynamical model:

angle(t) = v0 * t x(t) = radius * cos(v0t) y(t) = radius * sin(v0t)

If v is different from 0, then, we get the numeric integration will approximate the dynamical model:

angle(t) = v(t^2) / 2 + v0t x(t) = radius * cos(v(t^2) / 2 + v0t) y(t) = radius * sin(v(t^2) / 2 + v0t)

In this case the angular velocity is not constant, so the user should set the simulation velocity lower in order to better see the drone's simulated motion.

NETLOGO FEATURES

The model uses Netlogo's system dynamics modeler in conjunction with agent-based modeling showing how system dynamics and agent-based technologies can be used in conjunction for basic robotics simulations in Netlogo.

CREDITS AND REFERENCES

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Click to Run Model

;; system-dynamics-setup, system-dynamics-do-plot, and system-dynamics-go are automatically
;; generated by the System Dynamics Modeler.  The code can be viewed in the
;; Code Tab of the System Dynamics Modeler.

to setup
  clear-all
  ask patches [set pcolor white]
  crt 1
  ask turtles[setxy 10 0
              set color 0
              ]
  ask turtles [facexy 1 0]
  system-dynamics-setup
end 

to go
  system-dynamics-go
  ask turtles[if draw_trajectory [pen-down]
              facexy x y
              setxy x y]
end 


; Copyright 2005 Uri Wilensky.
; See Info tab for full copyright and license.

There is only one version of this model, created over 3 years ago by Carlos Pedro S. Gonçalves.

Attached files

File	Type	Description	Last updated
Drone - Circular Motion.png	preview	Preview for 'Drone - Circular Motion'	over 3 years ago, by Carlos Pedro S. Gonçalves	Download

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