用无人机在磁性画板上画画，实现更平滑的精准控制。
Magnisketch Drone Control
- 基于模型预测控制，融合磁力动态建模生成最优轨迹。
- 实测平均误差为x:3.9cm, y:4.4cm, z:0.5cm，画线更平滑。
- 适合对轨迹平滑性有要求的无人机绘画或精密操控场景。
无人飞行器（UAV）在空中任务与环境操控中的应用日益受到关注，艺术创作是其中一种体现。本文提出Magnasketch系统，能够将图像输入转化为比特克拉兹Crazyflie 2.0四旋翼无人机在磁性绘图板上的艺术作品。通过新引入磁力动力学的模型预测控制（MPC）框架生成最优轨迹，并设计了符合Z轴约束的磁性绘图装置。实验表明，该控制器在与现有位置高层命令器对比时表现相当：在x、y、z方向平均误差分别为3.9厘米、4.4厘米和0.5厘米；尽管略逊于基准，但其绘制效果更平滑，并具备全状态控制能力。
原文摘要 · Abstract (English)
The use of Unmanned Aerial Vehicles (UAVs) for aerial tasks and environmental manipulation is increasingly desired. This can be demonstrated via art tasks. This paper presents the development of Magnasketch, capable of translating image inputs into art on a magnetic drawing board via a Bitcraze Crazyflie 2.0 quadrotor. Optimal trajectories were generated using a Model Predictive Control (MPC) formulation newly incorporating magnetic force dynamics. A Z-compliant magnetic drawing apparatus was designed for the quadrotor. Experimental results of the novel controller tested against the existing Position High Level Commander showed comparable performance. Although slightly outperformed in terms of error, with average errors of 3.9 cm, 4.4 cm, and 0.5 cm in x, y, and z respectively, the Magnasketch controller produced smoother drawings with the added benefit of full state control.
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