Faculty of Mechatronics, Armament, and Aerospace, Military University of Technology, 00-908 Warsaw, Poland.
Sensors (Basel). 2023 Jan 9;23(2):740. doi: 10.3390/s23020740.
An increasing number of professional drone flights require situational awareness of aerial vehicles. Vehicles in a group of drones must be aware of their surroundings and the other group members. The amount of data to be exchanged and the total cost are skyrocketing. This paper presents an implementation and assessment of an organized drone group comprising a fully aware leader and much less expensive followers. The solution achieved a significant cost reduction by decreasing the number of sensors onboard followers and improving the organization and manageability of the group in the system. In this project, a group of quadrotor drones was evaluated. An automatically flying leader was followed by drones equipped with low-end cameras only. The followers were tasked with following ArUco markers mounted on a preceding drone. Several test tasks were designed and conducted. Finally, the presented system proved appropriate for slowly moving groups of drones.
越来越多的专业无人机飞行需要对飞行器的环境态势感知。一组中的飞行器必须感知周围环境和其他小组成员。需要交换的数据量和总成本都在飙升。本文提出了一种由完全感知的领导者和更便宜的跟随者组成的有组织的无人机群的实现和评估。该解决方案通过减少跟随者的传感器数量并提高系统中群组的组织和可管理性，实现了显著的成本降低。在这个项目中，评估了一组四旋翼无人机。一架自动飞行的领导者后面跟着的是只配备低端摄像头的无人机。跟随者的任务是跟随安装在前一架无人机上的 ArUco 标记。设计并进行了多项测试任务。最后，所提出的系统证明适用于缓慢移动的无人机群。
