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- Title
Persistent Charging System for Crazyflie Platform.
- Authors
Nguyen, Ngoc Phi; Lee, Bo Hye; Xuan-Mung, Nguyen; Ha, Le Nhu Ngoc Thanh; Jeong, Han Sol; Lee, Seok Tae; Hong, Sung Kyung
- Abstract
Nowadays, quadcopters are used widely in different applications, but their flight time is limited during operation. In this paper, a precision landing method based on a Kalman filter is proposed for an autonomous indoor persistent drone system that aims to increase the flight time of quadcopters. First, a local positioning system is used for tracking performance. Second, instead of using this local positioning system during the landing phase, a multi-ranger sensor is proposed to increase the accuracy of horizontal errors. Next, based on the relative position provided by the multi-ranger sensor, a Kalman filter technique is applied to estimate the relative velocity of the system, which is then applied to control the position of the quadcopter during the landing phase. Finally, a charging state machine law is proposed to charge the battery of three quadcopters sequentially. The experimental results demonstrate that the proposed concept based on a multi-ranger sensor can enhance the accuracy of the landing phase in comparison with the conventional method.
- Publication
Drones (2504-446X), 2022, Vol 6, Issue 8, p212
- ISSN
2504-446X
- Publication type
Article
- DOI
10.3390/drones6080212