異種ドローンによる複数台同時制御のためのRTコンポーネント

抄録

In this research, we construct a generalized interface for drones from each manufacturer using OpenRTM-aist. We can then assemble these drones and establish formation flight by using a virtual leader--follower system. The leader and the follower positions are calculated by using speed and rotation data from feedback information such as the GPS, velocity and rotation data from each individual machine. We also investigate good features of flight commands that can express the attributes of the representative motion of the drones. From our experiments, we show that we can establish formation flight using drones of different power and from multiple manufacturers.