Preliminary experience with the UAV CrazyFlie 2.1 on Trajectory Planning and ROS2 Porting

The Crazyflie 2.1, a Nano Quadcopter produced by Bitcraze, is a small drone that has limited hardware resources, including a small CPU and a battery that provides limited autonomy, but because of its open source and open hardware nature in addition to its small size, it lends itself very well to the academic domain. Furthermore, thanks to his flexible structure, multi-purpose decks can be added, expanding his functionalities. This thesys addresses the challenge of properly implementing a new motion to the Bitcrazy open-source library, with the specific intent of an autonomous driving by the quadcopter in a closed environment, helped by the Multiranger deck for proximity detection, and by the Flow deck for flight control. The goal of the new motion is to let the UAV wander in the delimited area while mantaining a safety distance from the perimeter, pairing well and incrementing the potential of different utilities that the drone offers, like surfaces scanning and virtual reproducting. The present experimental study aims to find an efficient trajectory setting for the determined objective, and to fit the resulting artifact in the Bitcraze system. • Chapter 1 introduces the Bitcraze project, with the Crazyflie 2.1 and some of its extensions. • Chapter 2 offers an overview of the Cflib, the open-source library integrated in the Crazyflie system, specifiaclly detailing the sections used in the experiment. • Chapter 3 describes the development of the project