Master-slave coordinated following of quad copters

Abstract

This study aims to develop an algorithm to make a slave quad copter follows a master quad copter while maintaining a constant distance. The computer helps to process the image captured by the Microsoft Kinect and then determine the position of color ball installed on both master and slave nano quad copters, Crazyflies. The user is able to adjust the X/Y set point of the master meanwhile the set point of the slave will change relative to the master such that a constant distance between the points are maintained. The control loop comprising of three PID regulators that will correct the roll/thrust/pitch is sent wirelessly to the Crazyflies via a radio dongle, Crazyradio. Lastly, the quad copter receives a series of commands consist of roll/thrust/pitch to attain a X/Y/Z set points in the image.