Cooperative Docking of Micro-Aerial Vehicles on a Mobile Ground Platform Using Model Predictive Control

Summary

 

This project presents the docking of micro-aerial vehicles, Crazyflie 2.1 quadcopter to dock on ASL rover. In this project, Crazyflie 2.1 quadcopter is guided to accurately follow the trajectory of the ASL ground rover using MPC, achieving successful docking when their relative velocity fell below the threshold of 10e-4 m/s. The pose of the Crazyflie is tracked using Vicon markers fused with onboard IMU and Z-ranger deck, achieving a dynamic accuracy of 0.02 mm. For the guidance, an MPC strategy is developed and implemented to manage the trajectories of both the rover and the Crazyflie, ensuring synchronized docking and the effectiveness of the control algorithm are rigorously tested within the Gazebo/ROS simulation environment.

Note: This is an ongoing project

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