TY - GEN
T1 - Robot Operating System (ROS) Framework for Swarm Drone Flight Controller
AU - Mardiyanto, Ronny
AU - Hisak, Muhamad Natual
AU - Mujiono, Totok
AU - Suryoatmojo, Heri
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - The ROS Framework for swarm drone flight controller has advantage on simplicity, flexibility, and integrability with the other ROS packages. This paper presents a ROS Framework design for a flight controller with a coordination and positioning capability. This design uses 6 nodes, 3 topics, and 3 messages. Development of the flight controller that has a coordination and positioning capability based on Robot Operating System (ROS). It is designed to control the movement of up to three drones. developed flight controller is designed to control the movement for as many drones as needed. The coordination capability is executed by a Raspberry Pi 3B on each drone and managed by ROS. It has been tested for horizontal and vertical movements. The first and third drone have an average speed difference with the second drone of ± 0,7 m/s and the distance travelled difference average is ± 1 meter when moving horizontally for 3 seconds. The speed difference and distance travelled when moving vertically for 3 seconds is ± 0,2 m/s and ± 0,5 meter.
AB - The ROS Framework for swarm drone flight controller has advantage on simplicity, flexibility, and integrability with the other ROS packages. This paper presents a ROS Framework design for a flight controller with a coordination and positioning capability. This design uses 6 nodes, 3 topics, and 3 messages. Development of the flight controller that has a coordination and positioning capability based on Robot Operating System (ROS). It is designed to control the movement of up to three drones. developed flight controller is designed to control the movement for as many drones as needed. The coordination capability is executed by a Raspberry Pi 3B on each drone and managed by ROS. It has been tested for horizontal and vertical movements. The first and third drone have an average speed difference with the second drone of ± 0,7 m/s and the distance travelled difference average is ± 1 meter when moving horizontally for 3 seconds. The speed difference and distance travelled when moving vertically for 3 seconds is ± 0,2 m/s and ± 0,5 meter.
KW - Drone
KW - Robot Operating System
KW - Swarm Drone
UR - http://www.scopus.com/inward/record.url?scp=85137878197&partnerID=8YFLogxK
U2 - 10.1109/ISITIA56226.2022.9855356
DO - 10.1109/ISITIA56226.2022.9855356
M3 - Conference contribution
AN - SCOPUS:85137878197
T3 - 2022 International Seminar on Intelligent Technology and Its Applications: Advanced Innovations of Electrical Systems for Humanity, ISITIA 2022 - Proceeding
SP - 297
EP - 303
BT - 2022 International Seminar on Intelligent Technology and Its Applications
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 23rd International Seminar on Intelligent Technology and Its Applications, ISITIA 2022
Y2 - 20 July 2022 through 21 July 2022
ER -