Development of a multi drone autonomous controller using motion capture for aerial puppetry

Details

Supervisors

Latteur, Pierre

Faculty

Ecole polytechnique de Louvain

Degree label

Master [120] : ingénieur civil électromécanicien, à finalité spécialisée: mécatronique

Abstract

This Master’s thesis is part of a project aiming to create a collaborative work between an artist and engineering students. The objective is to animate a live show in which drones and puppets would communicate and interact non-verbally. This is the second thesis that took part in this project and its objective is to automate the following of a trajectory for multiple drones, one of which carries a robotic arm conceived by a previous master’s student. To automate the following of a trajectory, a localization method is required, and we have chosen motion capture for its numerous benefits. This document starts by detailing the principles of multicopters, then presents and characterizes the technology of motion capture. In the second half, the development and implementation of the control loop is described. Finally, the characterization of its performances in a practical application concludes this thesis.