On the Evaluation of the Crazyflie Modular Quadcopter System

In recent years, quadcopters have become popular research platforms in the fields of robotics and control engineering. As a response to the academic community's needs, several open-source hardware and software platforms have emerged with the aim to impose as de-facto development tools. One of t...

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Bibliographic Details
Published in2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) pp. 1189 - 1195
Main Authors Budaciu, Cristina, Botezatu, Nicolae, Kloetzer, Marius, Burlacu, Adrian
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.09.2019
Subjects
Cameras
Drones
Hardware
Mathematical model
Real-time systems
Robot sensing systems
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Summary:In recent years, quadcopters have become popular research platforms in the fields of robotics and control engineering. As a response to the academic community's needs, several open-source hardware and software platforms have emerged with the aim to impose as de-facto development tools. One of these platforms is represented by Crazyflie 2.0, a nano class quadcopter that was used in research projects that span from control architecture designs to high-level swarm synchronization.This paper presents a study of the control architecture employed in the stock firmware. Based on the mathematical model, the dynamic behaviour is thoroughly evaluated to understand the deviation between ideal and real evolution. A comprehensive phase of parameters tuning is conducted and multiple scenarios for real-time testing are employed. These scenarios comply in tracking predefined patterns, the quadcopter's evolution being tracked via a RGB-D sensor.The proposed evaluation procedure can be easily replicated and represents a very important step in obtaining accurate real-time results.
ISSN:1946-0759
DOI:10.1109/ETFA.2019.8869202