Design of an adaptive 3-dimensional display enabled by a swarm of autonomous micro air vehicles

Abstract

This thesis is motivated by the concept of a system consisting of a swarm of small, automatically controlled air vehicles, each carrying a colour-controlled light source (payload), capable of executing coordinated maneouvres for the purpose of entertainment or data visualization. It focuses on a number of issues associated with the implementation of such a system, and specifically on the development of a non-linear, robust controller with feed-forward compensation, designed for control of a quad-rotor helicopter in the presence of aerodynamic interference generated by other vehicles in swarm-like operational conditions. System requirements and driving factors are identified, and various types of overall system architectures as well as vehicle designs are considered. The vehicle prototyping process is described, with specific emphasis on electronic design and hardware integration. Several problems associated with the flight of numerous vehicles in close proximity are addressed. Simulation and laboratory testing is described and results are presented and interpreted. Finally, consideration is given to the future development of such a system, as well as possible large-scale implementations and commercial opportunities.