Vision-Based Close Formation Flight of Unmanned Aerial Vehicles (UAVs)

Since cost of unmanned aircraft vehicles have decreased recently due to technological advancement, there has been a growing interest in developing and implementing systems for close formation missions. Our research objective is to investigate and implement low-cost vision-based tracking algorithms for such a flight formation. For the first technical objective (TO), we are developing an algorithm for vision-based tracking using a Raspberry-Pi hardware. For the second TO, we assembled a quadcopter to be equipped with a camera module and a calibrated flight control computer. In addition, the research team has performed flight testing to obtain video data of a flying marked quadcopter as a reference for developing the tracking algorithm. The final TO is to test-fly two quadcopters in close formation using vision-based tracking algorithm. Ultimately, this research will provide a reliable platform to further investigate formation flight capabilities, and to extrapolate the technology to a wide range of applications