Implementation of sweep cleaning protocol using quadcopters

• Main Authors: Fermin, Christian Kyle Y., Imperial, Arthur Lanz L., Molato, Karlo Felipe D.L., Santos, Jesse Daniel
• Format: text
• Language: English
• Published: Animo Repository 2016
• Subjects: Mechanical engineering; Robotics; Swarm intelligence; Navigation
• Online Access: https://animorepository.dlsu.edu.ph/etd_bachelors/8320
• Institution: De La Salle University

This study aims to implement the SWEEP cleaning protocol by using four quadcopters and a localization system through optitrack. The SWEEP cleaning protocol, which is used to solve the dynamic cleaners problem where there is an area increasing in size similar to contamination spreading, is implemented by creating a communication system between the quadcopters and the base station. The base station will be implementing the same program for all quadcopters whose goal is to be able to clean the entire area while preserving the connectivity of the area by determining the critical points of the area. Through Optitrack, the coordinates of the quadcopters are obtained and used in the protocol. The quadcopters movement is dictated by the base station through the use of a PID controller inherent in the Crazyflie quadcopters. With this technology, future implementations of the thesis can be used for military operations to locate targets of interest. Due to the physical implementation nature of the thesis, improvements to the protocol can be discovered due to application in non-ideal situations.