Title :
Outdoor co-operative control of multiple quadcopters using decentralized GPS localisation
Author :
Limbu, Narendra ; Ahuja, Indrajit ; Sonar, Harshal ; Solanki, Sudeep ; Jain, Soniya ; Hoam Chung ; Chakraborty, Debraj
Author_Institution :
Dept. of Electr. Eng., Indian Inst. of Technol. Bombay, Mumbai, India
Abstract :
The implementation of co-operative outdoor navigation and control of a team of quadcopters, using GPS-based localization is presented. A testbed of quadcopters is indigenously developed using commercial off-the-shelf components. In this article, the complete design process based on open source hardware (ArduPilot Mega) and software (AeroQuad) is documented, which includes the structure of the autopilot, control structure for various autonomous modes, and the integration of the fully distributed navigation algorithms. Our experiments reported here achieve completely decentralised and autonomous outdoor co-operative flights using solely open source components.
Keywords :
Global Positioning System; aircraft control; aircraft navigation; autonomous aerial vehicles; decentralised control; helicopters; multi-robot systems; AeroQuad; ArduPilot Mega; autonomous modes; autonomous outdoor coooperative flights; autopilot; commercial off-the-shelf components; control structure; cooperative outdoor navigation; decentralised outdoor coooperative flights; decentralized GPS localisation; design process; fully distributed navigation algorithms; multiple quadcopters; open source components; open source hardware; outdoor cooperative control; Algorithm design and analysis; Global Positioning System; Hardware; Propellers; Sensors; Tuning;
Conference_Titel :
Robot Motion and Control (RoMoCo), 2015 10th International Workshop on
DOI :
10.1109/RoMoCo.2015.7219705
