Autonomous Collision Avoidance for Swarms of MAVs

Based solely on RSSI measurements

Master thesis (2015)

Authors

Contributors

J.A. Mulder (mentor)
C.C. de Visser (mentor)
K.Y.W. Scheper (mentor)
C.J.M. Verhoeven (mentor)
Department
Control and Simulation (Aerospace Engineering) (TU Delft)
Copyright: © 2015 T. Szabó
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Published Date

21-08-2015

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Faculty

Aerospace Engineering

Department

Control and Simulation

Abstract

Swarming is a promising solution for extending the flight time and payload carrying capabilities of Micro Aerial Vehicles (MAVs), where recent years have brought many advancements. These allow MAVs to operate ever more autonomously by tackling problems such as obstacle avoidance and autonomous navigation. A major challenge that still remains, however, is to ensure collision avoidance within the swarm itself. Avoiding collisions with other members of the swarm requires knowledge of their relative positions - typically requiring additional sensors to be carried on-board. Using the signal strength of the MAVs’ communication link provides an alternative method for estimating relative distances between the members of the swarm without requiring need for any additional sensors.

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