Distributed Formation Control of Drones With Onboard Perception
Özet
While aerial vehicles offer enormous benefits
in several application domains, multidrone localization and
control in uncertain environments with limited onboard
sensing capabilities remains an active research field. A
formation control solution which does not rely on external
infrastructure aids such as GPS and motion capture systems must be established based on onboard perception
feedback. We address the integration of onboard perception and decision layers in a distributed formation control
architecture for three-drone systems. The proposed algorithm fuses two sensor characteristics, distance, and vision, to estimate the relative positions between the drones.
Particularly, we utilize the omnidirectional sensing property of the ultrawideband distance sensors and a deep
learning-based bearing detection algorithm in a filter. The
entire system leads to a closed-loop perception-decision
framework, whose stability and convergence properties are
analyzed exploiting its modular structure. Remarkably, the
drones do not use a common reference frame. We verified
the framework through extensive simulations in a realistic
environment. Furthermore, we conducted real world experiments using two drones and proved the applicability of the
proposed framework. We conjecture that our solution will
prove useful in the realization of future drone swarms.
Kaynak
IEEE-ASME TRANSACTIONS ON MECHATRONICSCilt
27Sayı
5Koleksiyonlar
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