Collision Avoidance Maneuver Design for the Multiple Indoor UAV by using AR. Drone

Abstract

With increasing of interest in quad-rotor which has excellent maneuverability recently, a various types of multi-rotor aircraft was developed and commercialized, and there are many kinds of leisure products to be easily operated. In these products, the AR.Drone manufactured by Parrot has an advantage that it is easily operated by user due to the its internal stabilization loop in the on-board computer. Thus it is possible to design the unmanned UAV system easily by using this AR.Drone and its inner loop for the stabilization. For this advantage, KARI(Korea Aerospace Research Institute) has been developing the indoor swarming flight system by using multiple AR.Drones. For this indoor swarming flight, it is necessary that not only the position controller for each AR.Drone, but also the collision avoidance algorithm. Therefore, in this paper, the collision avoidance controller is provided for the swarm flight by using these AR.Drones.

Energy-Efficient Swarming Flight Formation Transitions Using the Improved Fair Hungarian Algorithm

“…where After that, the correction of the position and velocity vectors was made using the position and velocity errors in Equations (5) and (6), as follows…”

“…For the swarming flight, various studies have been conducted in real environments with simulation [ 3 , 4 , 5 ]. In the early stages of research on swarming flight in a real environment, most researches were conducted indoors [ 6 , 7 ]. In the case of indoor swarming flight, motion capture or images can be used for position estimation.…”