Towards Autonomous Navigation of Multiple Pocket-Drones in Real-World Environments
Kimberly Mcguire (TU Delft - Control & Simulation)
Mario Coppola (TU Delft - Control & Simulation)
Christophe de Wagter (TU Delft - Control & Simulation)
Guido de Croon (TU Delft - Control & Simulation)
More Info
expand_more
Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.
Abstract
Pocket-drones are inherently safe for flight near humans, and their small size allows maneuvering through narrow indoor environments. However, achieving autonomous flight of pocket-drones is challenging because of strict on-board hardware limitations. Further challenges arise when multiple pocket-drones operate as a team and need to coordinate their movements. This paper presents a set-up that can achieve autonomous flight in an indoor environment with avoidance of both static obstacles and other pocket-drones.The pocket-drones use only on-board sensing and processing implemented on a STM32F4 microprocessor (168 MHz). Experiments were conducted with two 40g pocket-drones flying autonomously in a real-world office while avoiding walls, obstacles, and each-other.