Print Email Facebook Twitter Relative Localization for Collision Avoidance in Micro Air Vehicle Teams Title Relative Localization for Collision Avoidance in Micro Air Vehicle Teams Author Coppola, M. Contributor De Croon, G. (mentor) Faculty Aerospace Engineering Department Control & Operations Date 2016-06-27 Abstract A current limitation of using Micro Air Vehicles in teams is the high risk of collisions between members. Knowledge of relative location is needed in order to perform evasive maneuvers from such collisions. We propose an on-board Bluetooth-based relative localization scheme. Bluetooth is a light-weight and energy efficient communication technology that is readily available on even the smallest Micro Air Vehicle units. In this work, it is exploited for communication between team members to exchange on-board states (velocity, height, and orientation), and the strength of the communication signal is used to infer relative range. The data is fused on-board by each Micro Air Vehicle to obtain a relative estimate of the location and motion of all other team members. Furthermore, a collision avoidance controller is proposed based on collision cones. It is designed to deal with the expected performance of the localization scheme by adapting the collision cones during flight and enforcing a clock-wise evasion maneuver. The system was tested with a team of AR-Drones 2.0 flying in a 4m×4m arena. The task requested the AR-Drones to repeatedly fly from wall to wall whilst passing through the center of the arena, hence making collisions highly likely. The system showed promising results. When using two AR-Drones and off-board velocity/orientation estimates, the drones are able to fly around the arena and avoid each other for the entire flight time as permitted by the battery. With three AR-Drones under the same conditions, flight time to collision was 3 minutes. With two AR-Drones flying with on-board velocity estimation, the time to collision was approximately 3 minutes due to the disturbances in velocity estimates. Simulation results show that significantly better results can be expected with smaller units. Subject Micro Air VehiclesBluetoothRelative LocalizationCollision Avoidanceswarmindoordronesteam To reference this document use: http://resolver.tudelft.nl/uuid:8145032a-9b1c-48c1-bf46-6f9d7405e5ef Part of collection Student theses Document type master thesis Rights (c)2016 Coppola, M. Files PDF MarioCoppola_ThesisReport.pdf 12.88 MB Close viewer /islandora/object/uuid:8145032a-9b1c-48c1-bf46-6f9d7405e5ef/datastream/OBJ/view