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On-board communication-based relative localization for collision avoidance in Micro Air Vehicle teams

To avoid collisions, Micro Air Vehicles (MAVs) flying in teams require estimates of their relative locations, preferably with minimal mass and processing burden. We present a relative localization method where MAVs need only to communicate with each other using their wireless transceiver. The MAVs e...

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Detalles Bibliográficos
Autores principales: Coppola, Mario, McGuire, Kimberly N., Scheper, Kirk Y. W., de Croon, Guido C. H. E.
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Springer US 2018
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6413632/
https://www.ncbi.nlm.nih.gov/pubmed/30956404
http://dx.doi.org/10.1007/s10514-018-9760-3
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author Coppola, Mario
McGuire, Kimberly N.
Scheper, Kirk Y. W.
de Croon, Guido C. H. E.
author_facet Coppola, Mario
McGuire, Kimberly N.
Scheper, Kirk Y. W.
de Croon, Guido C. H. E.
author_sort Coppola, Mario
collection PubMed
description To avoid collisions, Micro Air Vehicles (MAVs) flying in teams require estimates of their relative locations, preferably with minimal mass and processing burden. We present a relative localization method where MAVs need only to communicate with each other using their wireless transceiver. The MAVs exchange on-board states (velocity, height, orientation) while the signal strength indicates range. Fusing these quantities provides a relative location estimate. We used this for collision avoidance in tight areas, testing with up to three AR.Drones in a [Formula: see text] area and with two miniature drones ([Formula: see text] ) in a [Formula: see text] area. The MAVs could localize each other and fly several minutes without collisions. In our implementation, MAVs communicated using Bluetooth antennas. The results were robust to the high noise and disturbances in signal strength. They could improve further by using transceivers with more accurate signal strength readings.
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spelling pubmed-64136322019-04-03 On-board communication-based relative localization for collision avoidance in Micro Air Vehicle teams Coppola, Mario McGuire, Kimberly N. Scheper, Kirk Y. W. de Croon, Guido C. H. E. Auton Robots Article To avoid collisions, Micro Air Vehicles (MAVs) flying in teams require estimates of their relative locations, preferably with minimal mass and processing burden. We present a relative localization method where MAVs need only to communicate with each other using their wireless transceiver. The MAVs exchange on-board states (velocity, height, orientation) while the signal strength indicates range. Fusing these quantities provides a relative location estimate. We used this for collision avoidance in tight areas, testing with up to three AR.Drones in a [Formula: see text] area and with two miniature drones ([Formula: see text] ) in a [Formula: see text] area. The MAVs could localize each other and fly several minutes without collisions. In our implementation, MAVs communicated using Bluetooth antennas. The results were robust to the high noise and disturbances in signal strength. They could improve further by using transceivers with more accurate signal strength readings. Springer US 2018-05-02 2018 /pmc/articles/PMC6413632/ /pubmed/30956404 http://dx.doi.org/10.1007/s10514-018-9760-3 Text en © The Author(s) 2018 Open AccessThis article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.
spellingShingle Article
Coppola, Mario
McGuire, Kimberly N.
Scheper, Kirk Y. W.
de Croon, Guido C. H. E.
On-board communication-based relative localization for collision avoidance in Micro Air Vehicle teams
title On-board communication-based relative localization for collision avoidance in Micro Air Vehicle teams
title_full On-board communication-based relative localization for collision avoidance in Micro Air Vehicle teams
title_fullStr On-board communication-based relative localization for collision avoidance in Micro Air Vehicle teams
title_full_unstemmed On-board communication-based relative localization for collision avoidance in Micro Air Vehicle teams
title_short On-board communication-based relative localization for collision avoidance in Micro Air Vehicle teams
title_sort on-board communication-based relative localization for collision avoidance in micro air vehicle teams
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6413632/
https://www.ncbi.nlm.nih.gov/pubmed/30956404
http://dx.doi.org/10.1007/s10514-018-9760-3
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