Integration of a Vicon camera system for indoor flight of a Parrot AR Drone

The main objective of this project is to design and implement an indoor autonomous flight control for Unmanned Aerial Vehicle (UAV) of type Parrot AR Drone. Autonomous flight is achieved when the AR Drone is capable of following a predefined trajectory without any human interaction. For this purpose, a control algorithm for Parrot AR Drone designed by Mathworks under software Matlab\Simulink was used and enhanced. As a part of the control model development and enhancement, a Vicon Capture System consisting of a set of cameras was integrated in real time with the AR Drone Matlab\Simulink. Vicon Capture System was used to capture the position of AR Drone and compare it with the estimated position obtained from AR Drone on-board sensors. It was noticed that the Vicon cameras´ position estimation was closer to the real position than the sensors´ estimation.