Towards Autonomous Navigation of Multiple Pocket-Drones in Real-World Environments
K.N. McGuire (TU Delft - Control & Simulation)
M. Coppola (TU Delft - Control & Simulation)
C. de Wagter (TU Delft - Control & Simulation)
G.C.H.E. de Croon (TU Delft - Control & Simulation)
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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.