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An Airborne Agent

  • Daniel Soto-GuerreroEmail author
  • José Gabriel Ramírez-TorresEmail author
Conference paper
  • 890 Downloads
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10267)

Abstract

In order to change the control approach that commercially available Unmanned Aerial Vehicles (UAVs) use to execute a flight plan, which is based on the Global Positioning System (GPS) and assuming an obstacle-free environment, we propose a hierarchical multi-layered control system that permits to a UAV to define the flight plan during flight and locate itself by other means than GPS. The work presented on this article aims to set the foundation towards an autonomous airborne agent, capable of locating itself with the aid of computer vision, model its environment and plan and execute a three dimensional trajectory. On the current stage of development we locate the vehicle using a board of artificial markers, the flight plan to execute was defined as either a cubic spline or a Lemniscate. As results, we present the resultant flight data when the proposed control architecture drives the vehicle autonomously.

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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  1. 1.Cinvestav TamaulipasCiudad VictoriaMexico

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