The development of swarm control on quadrotor with visual localization and proportional-integral velocity controller

This paper presents the design and implementation of Boid algorithm with proportional - integral controller to control the velocity of quadrotor which uses a camera-based localization method. The algorithm consists of three rules: cohesion, separation, and alignment in order to mimic the behavior of groups of animals such as bird colonies. The control action was applied to achieve a reference velocity and the controller parameters were obtained using Ziegler-Nichols tuning method. The localization method utilized sixteen combinations of cyan, magenta, yellow, and black color markers. These markers provide coordinate information for the quadrotor.