Abstract
In this paper, a distributed multi-agent consensus algorithm with theoretically provable convergence properties is implemented outdoors with three quadrotors. These quadrotors communicate with each other over an incomplete communication graph. Each quadrotor computes its position using only GPS data and transmits this information to the neighbouring quadrotors using Xbee wireless modules. The relative position information from all the neighbours is used by each quadrotor to compute the required pitch and roll angles, according to the consensus algorithm. It is shown that this distributed control law successfully navigates all the quadrotors to an autonomously decided consensus point. Details of the implementation and the consensus experiment are presented.
Original language | English |
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Title of host publication | 2016 European Control Conference (ECC 2016) |
Subtitle of host publication | Aalborg, Denmark, 29 June-1 July, 2016, [proceedings] |
Editors | Anders Rantzer |
Place of Publication | Piscataway NJ USA |
Publisher | IEEE, Institute of Electrical and Electronics Engineers |
Pages | 2146-2151 |
Number of pages | 6 |
ISBN (Electronic) | 9781509025916 |
ISBN (Print) | 9781509025923 |
DOIs | |
Publication status | Published - 2017 |
Event | European Control Conference 2016 - Aalborg, Denmark Duration: 29 Jun 2016 → 1 Jul 2016 Conference number: 15th http://www.ecc16.eu/index.shtml https://ieeexplore.ieee.org/xpl/conhome/7792520/proceeding (Proceedings) |
Conference
Conference | European Control Conference 2016 |
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Abbreviated title | ECC 2016 |
Country/Territory | Denmark |
City | Aalborg |
Period | 29/06/16 → 1/07/16 |
Internet address |