Koordinering av drönare för autonom områdesavsökning

Abstract

This study investigates how drones of the model Crazyflie2.1+, in combination with a motion capture system, can be used for autonomous area scanning and, upon detection, tracking and streaming of the positional data of a moving target. To enable a drone system capable of autonomously switching between area scanning and target tracking, a control script was developed utilizing Qualisys track manager and Crazyswarm2. The results show that the drones were able to follow a predefined search trajectory and, upon detection of a moving target, transition to target tracking while constantly streaming its position to an external system. However, the transition to area scanning after tracking was not implemented due to time constraints. This study demonstrates the potential of motion capture-based drone systems for autonomous navigation and target tracking in controlled environments, while also highlighting challenges related to the implementation of such systems.