A Flight Formation Control of a Micro Aerial Vehicle Swarm using a Motion Capture
Nuttawat Punpigul, Mason Thammawichai · 2019
Unmanned Aerial Vehicles (UAVs) have been used widely since they can be applied in various missions. Using a single UAV may not be able to carry out the mission thoroughly and efficiently for current operational demandings. Therefore, we are interested in designing a flight formation controller of a small fleet of four micro UAVs, called crazyflie, using a kinect motion capture together with an indoor local positioning system. The flight test results show that the crazyflie swarm can fly in a formation within the designated area using the centralized control approach. Moreover, the flight formations of the swarm such as a triangle pattern, a square pattern and a line pattern can be controlled using the movements of the body.