An Introduction to Formation Control of UAV with Vicon System
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.
KeywordsFormation control Vicon system System architecture
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