Abstract
Commercialy available (UAVs) rely on the Global Positioning System (GPS) to define their flight plan, while assuming an obstacle-free environment. The work presented on this article aims to set the foundation towards an autonomous airborne agent, capable of locating itself by means of computer vision, modeling its environment, planning and executing a three dimensional trajectory. On the first stage of development we solved the localization problem using artificial markers and tested a PID controller to make the vehicle follows a given trajectory (a lemniscate); as results, we show flight data captured during real flights. This development would facilitate the integration of far more complex flight behaviors than GPS only guided flight plans.
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Notes
- 1.
Webpage: http://gstreamer.freedesktop.org/.
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Soto-Guerrero, D., Ramírez-Torres, J.G., Gazeau, JP. (2018). Towards an Autonomous Airborne Robotic Agent. In: Zeghloul, S., Romdhane, L., Laribi, M. (eds) Computational Kinematics. Mechanisms and Machine Science, vol 50. Springer, Cham. https://doi.org/10.1007/978-3-319-60867-9_8
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DOI: https://doi.org/10.1007/978-3-319-60867-9_8
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