Özet:
In recent years, unmanned aerial vehicles have been used effectively in many military
and civilian areas. Because of it provides many advantages areas of surveillance,
imaging, mapping, search and rescue etc. It has become an almost indispensable part
of them.
The use of more than one unmanned aerial vehicle in the performance of the tasks
saves time and cost compared to a single vehicle, while allowing the completion of
tasks that cannot be done with a single vehicle. For example, in missions where a
certain area is required to be imaging or mapping, a single drone takes longer to scan
the entire area than multiple drones. Since the airtime of small unmanned aerial
vehicles is relatively short, a battery replacement will interrupt the task and increase
this time even more. Using large-sized unmanned aerial vehicles that can stay in
the air for a longer time can make the same task too costly. The use of unmanned
aerial vehicles swarms allows different tasks to be performed by using methods such
as triangulation or back azimuth that cannot be done with a single vehicle.
Success of swarming often depends on preserving swarm formation. It is critical for
all swarm members to maintain their position in the formation to successfully perform
certain tasks, such as triangulation. In order to achieve this, each swarm member must
precisely determine its relative position with respect to other agents.
In this study a swarm of UAVs has been created by using method which relative position
of UAVs determined by using only a monocular camera and IMU sensor, without
GPS, VICON, LIDAR etc. which are external dependent or high-cost systems. UAVs
are estimates the relative position between them by intersecting areas in the camera
images and IMU acceleration measurements they send to each other. In formation
acquisition, flocking and formation maneuver simulations, the swarm agents managed
to create a swarm by staying within %5 error zone.
