Current Research Projects: Coordinated Path Following of Multiple Quadrotors

Abstract

New flight experiment where two AR.Drone quadrotors was performed at CAVR lab at NPS! In these flight tests the quadrotors are tasked to follow predefined paths (computed off-line), while coordinating their position and attitude according to the scenario requirements. At the lower control level, the developed path-following controller makes each quadrotor converge and follow its own path, independently of the temporal assignments of the scenario. The algorithm relies on the implementation of a virtual vehicle running along the path, the rate of progression of which can be controlled at will. At the higher control level, the quadrotors exchange coordination information over a supporting communications network to synchronize their position along the path as well as their attitude; heading of each quadrotor is also a degree of freedom that can be control independently. The coordination and path-following algorithms have been implemented in Simulink in real time, and use feedback data from a Vicon Motion Tracking system to produce the control commands. The efficiency of the cooperative control framework has been evaluated by utilizing convenient features and the API of the Parrot AR.Drone quadrotor.