Autonomous leader-follower architecture of A.R. Drones in GPS constrained environments

Abstract

In this paper, we present a low cost leader-follower formation control architecture of UAVs. The low cost architecture comprises of two AR. Drones and two Raspberry Pi. The computation of each drones has been done in cost effective Raspberry Pi. The relative localization among the drones has been done using Aruco Marker. A gradient descent based self-Tuning PID controller is used by the follower drone to preserve the formation with respect to the leader drone. Experimental results as well as simulation results have shown in this paper.