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An Introduction to Formation Control of UAV with Vicon System

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2nd EAI International Conference on Robotic Sensor Networks

Part of the book series: EAI/Springer Innovations in Communication and Computing ((EAISICC))

Abstract

As a first step towards fully distributed formation control for a large swarm, we exhibit a distributed flight demo with three quadcopters under Vicon motion capture system. In this paper, hardware setup of system and a decentralized software architecture are introduced. Then, in order to validate the system, we design an experiment in which three quadcopters circle around a fixed point coordinately by using the consensus protocol. Finally, some flight data are reported and analyzed.

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Author information

Authors and Affiliations

  1. College of Mechatronics and Automation, National University of Defense Technology, Changsha, P. R. China

    Yangguang Yu, Zhihong Liu & Xiangke Wang

Authors
  1. Yangguang Yu
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  2. Zhihong Liu
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  3. Xiangke Wang
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Corresponding author

Correspondence to Xiangke Wang .

Editor information

Editors and Affiliations

  1. Department of Mechanical and Control Engineering, Kyushu Institute of Technology, Kitakyushu, Japan

    Huimin Lu

  2. Department of Electronics Engineering and Computer Science, Fukuoka University, Fukuoka, Japan

    Li Yujie

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Yu, Y., Liu, Z., Wang, X. (2020). An Introduction to Formation Control of UAV with Vicon System. In: Lu, H., Yujie, L. (eds) 2nd EAI International Conference on Robotic Sensor Networks. EAI/Springer Innovations in Communication and Computing. Springer, Cham. https://doi.org/10.1007/978-3-030-17763-8_17

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  • DOI: https://doi.org/10.1007/978-3-030-17763-8_17

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-17762-1

  • Online ISBN: 978-3-030-17763-8

  • eBook Packages: EngineeringEngineering (R0)

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