The Development of Indoor Swarm Aerial Robot Based on Motion Capture System

• Main Authors: Chi-Yi Wang, 王啟義
• Other Authors: Jie-Tong Zou
• Format: Others
• Language: zh-TW
• Published: 2015
• Online Access: http://ndltd.ncl.edu.tw/handle/xg7r63

碩士 === 國立虎尾科技大學 === 飛機工程系航空與電子科技碩士班 === 104 === Due to the unmanned aerial vehicle (UAV) has the advantages of light weight, small size, and better dynamic performance, it has always been the highlight on research topics in recent years. Today, this item is very mature at outdoor environment, it can loiter and autopilot because of Global positioning System (GPS). But, GPS signal can’t be received that UAV can’t loiter and autopilot in indoor environment. In this research, the ultrasonic positioning system was used as indoor positioning system of aerial robots. Microsoft Visual Basic was used to design a Graphical User Interface (GUI) that can show the position of aerial robots and setup waypoints for aerial robot navigation. But, the positioning response and accuracy are too low for aerial robot positioning. So, the ultrasonic positioning system was used as indoor positioning system of omni-directional mobile robot. Finally, a motion capture system, which has 120 FPS high positioning response and 0.1 mm positioning accuracy, was used as indoor positioning system for swarm aerial robots. Using Microsoft Visual C# to design a GUI which can communicate with UAVs by using 433MHz nRF905 wireless module makes control UAVs conveniently. In addition, twelve infrared sensors make an obstacle avoidance aerial robot. When the obstacle’s distance less than preset value, the aerial robot will dodge automatically. From experiment as results, infrared sensors can make aerial robot to have obstacle avoidance ability. But, because of the infrared sensors detect distance is too short and experiment space is too small, the infrared sensors do not be used in indoor navigation experiment. The high positioning response and accuracy with motion capture system actually can make the aerial robots doing loiter, autopilot and swarm flight