TY - CONF
T1 - Autonomous Leader-Follower Architecture of A.R. Drones in GPS Constrained Environments
AU - Vankadari, Madhu Babu
AU - Das, Kaushik
AU - Kumar, Swagat
PY - 2017/11/22
Y1 - 2017/11/22
N2 - In this paper, we present a low cost leader-follower formation control architecture of UAVs. The low cost architecture comprises of two AR. Drones and two Raspberry Pi. The computation of each drones has been done in cost effective Raspberry Pi. The relative localization among the drones has been done using Aruco Marker. A gradient descent based self-tuning PID controller is used by the follower drone to preserve the formation with respect to the leader drone. Experimental results as well as simulation results have shown in this paper.
AB - In this paper, we present a low cost leader-follower formation control architecture of UAVs. The low cost architecture comprises of two AR. Drones and two Raspberry Pi. The computation of each drones has been done in cost effective Raspberry Pi. The relative localization among the drones has been done using Aruco Marker. A gradient descent based self-tuning PID controller is used by the follower drone to preserve the formation with respect to the leader drone. Experimental results as well as simulation results have shown in this paper.
UR - http://www.mendeley.com/research/autonomous-leaderfollower-architecture-ar-drones-gps-constrained-environments
UR - http://www.mendeley.com/research/autonomous-leaderfollower-architecture-ar-drones-gps-constrained-environments
U2 - 10.1145/3132446.3134915
DO - 10.1145/3132446.3134915
M3 - Paper
ER -