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http://repositorio.espe.edu.ec/handle/21000/23321
Titel: | Design and implementation of a pattern tracking system with visual control based on images for an UAV in indoor environments. |
Director(es): | Pérez Gutiérrez, Milton Fabricio |
Autor(en): | Arroyo Paredes, Margarita Gioconda Cordónez Acosta, Elvis Gustavo |
Stichwörter: | CONTROL VISUAL CONTROL DE IMAGEN CINEMÁTICA CONTROL DE POSICIÓN |
Erscheinungsdatum: | 23-Jul-2020 |
Herausgeber: | Universidad de las Fuerzas Armadas ESPE Extensión Latacunga. Carrera de Ingeniería en Electrònica e Instrumentaciòn. |
Zitierform: | Arroyo Paredes, Margarita Gioconda. Cordónez Acosta, Elvis Gustavo (2020). Design and implementation of a pattern tracking system with visual control based on images for an UAV in indoor environments. Carrera de Ingeniería Electrónica e Instrumentación. Departamento de Eléctrica y Electrónica. Universidad de las Fuerzas Armadas ESPE. Extensión Latacunga. |
Zusammenfassung: | For target tracking when UAV's operate in indoor environments, they present difficulties when using the GPS signal. One of the solutions to this type of problem is visual feedback through a camera on board the aircraft. In this work we developed two types of controllers a classic PID and a controller that uses the kinematic model of the UAV that allows to make the tracking of a defined pattern in space within indoor environments, both controllers receive a visual feedback through a camera on board the UAV that by means of a calibration estimates the distances of the UAV with respect to the pattern in each of its axes, finally a comparison of results is made and it is determined that the controller with kinematic model presents an error less than 5% for each axis in trajectories greater than one meter being the most optimal in this work. |
URI: | http://repositorio.espe.edu.ec/handle/21000/23321 |
Enthalten in den Sammlungen: | Artículos Académicos - Carrera de Ingeniería Electrónica e Instrumentación (ESPEL) |
Dateien zu dieser Ressource:
Datei | Beschreibung | Größe | Format | |
---|---|---|---|---|
AA-ESPEL-ENI-0442.pdf | ARTÍCULO ACADÉMICO | 1,89 MB | Adobe PDF | Öffnen/Anzeigen |
ESPEL-ENI-0442-P.pdf | PRESENTACIÓN | 2,7 MB | Adobe PDF | Öffnen/Anzeigen |
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