Abstract
In this paper, we propose the implementation of an autonomous navigation system for quadcopter UAVs through a trajectory established by GPS as a setpoint, where the control system, in this case, we will use the proportional one, will guide the UAV through said plotted trajectory, achieving the objective precisely, which is a very useful application in military operations since a system of this nature is required to carry out observation and recognition missions for decision making and to have clear knowledge of the scenario that is lived. To control a trajectory, the system communicates by means of a computer, acquires data by means of GPS on board and transfers them to the PC to be processed by means of calculations of conversion of distance and angle systems using global positioning data and from there, sends orders and flight plans by means of a proportional controller that allows corrections to be made with tolerances established by the controller to follow your flight plan and reach the exact point. Once reached the point, the system is validated for its automatic return, following the path of return drawn and then concludes with the landing that will be validated by artificial vision; even though the GPS system has a certain degree of accuracy, it is required to recognize a base and that you make your descent at the base where you started your flight plan, through the UAV camera vision, keeping in the system an image pattern that when identified by a certain number of points, will fulfill a landing action, ending the mission.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Venkatesh, G.A., Sumanth, P., Jansi, K.R.: Fully autonomous UAV. In: Proceedings: 2017 International Conference on Technical Advancements in Computers and Communications, ICTACC 2017, pp. 41–44, Oct 2017
Orbea, D., Moposita, J., Aguilar, W.G., Paredes, M., León, G., Jara-Olmedo, A.: Math model of UAV multi rotor prototype with fixed wing aerodynamic structure for a flight simulator. In: International Conference on Augmented Reality, Virtual Reality and Computer Graphics, pp. 199–211 (2017)
Rathbun, D., Kragelund, S.: IEEE Xplore—an evolution based path planning algorithm for autonomous motion of a UAV through uncertain environments. Digital Avionics (2002). Available from: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1052946%5Cnpapers2://publication/uuid/8479FE2D-6988-48FE-B714-669DA578E2E3
Aguilar, W.G., Morales, S.G.: 3D environment mapping using the Kinect V2 and path planning based on RRT algorithms. Electronics 5(4), 70 (2016)
Sani, M.F., Karimian, G.: Automatic navigation and landing of an indoor AR. Drone quadrotor using ArUco marker and inertial sensors. In: 1st International Conference on Computer and Drone Applications: Ethical Integration of Computer and Drone Technology for Humanity Sustainability, IConDA 2017, pp. 102–107, Jan 2018
Aguilar, W.G., Manosalvas, J.F., Guillén, J.A., Collaguazo, B.: Robust motion estimation based on multiple monocular camera for indoor autonomous navigation of micro aerial vehicle. In: International Conference on Augmented Reality, Virtual Reality and Computer Graphics, pp. 547–561 (2018)
Rahman, M.F.A., Radzuan, S.M., Hussain, Z., Khyasudeen, M.F., Ahmad, K.A., Ahmad, F., et al.: Performance of loiter and auto navigation for quadcopter in mission planning application using open source platform. In: Proceedings of 7th IEEE IEEE International Conference on Control System, Computing and Engineering (ICCSCE), 2017, Nov 2017. pp. 342–347 (2018)
Aguilar, W.G., Cobeña, B., Rodriguez, G., Salcedo, V.S., Collaguazo, B.: SVM and RGB-D sensor based gesture recognition for UAV control. In: International Conference on Augmented Reality, Virtual Reality and Computer Graphics, pp. 713–719 (2018)
Shang, J, Shi, Z.: Vision-based runway recognition for UAV autonomous landing. IJCSNS Int J Comput Sci Netw Secur 7(3), 112 (2007). Available from: http://paper.ijcsns.org/07_book/200703/20070317.pdf
Aguilar, W.G., Luna, M.A., Ruiz, H., Moya, J.F., Luna, M.P., Abad, V., Parra, H.: Statistical abnormal crowd behavior detection and simulation for real-time applications. In: International Conference on Intelligent Robotics and Applications, pp. 671–682 (2017)
Brockers, R., Hummenberger, M., Weiss, S., Matthies, L.: Towards autonomous navigation of miniature UAV. IEEE Comput Soc Conf Comput Vis Pattern Recognit Work 645–51 (2014)
Aguilar, W.G., Salcedo, V.S., Sandoval, D.S., Cobeña, B.: Developing of a video-based model for UAV autonomous navigation. Latin American Workshop on Computational Neuroscience, pp. 94–105 (2017)
Imanberdiyev, N., Fu, C., Kayacan, E., Chen, I.M.: Autonomous navigation of UAV by using real-time model-based reinforcement learning. In: 2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV), Nov 2016, pp. 13–5 (2017)
Aguilar, W.G., Casaliglla, V.P., Polit, J.L.: Obstacle avoidance based-visual navigation for micro aerial vehicles. Electronics 6(1), 10 (2017)
Aguilar, W.G., Angulo, C.: Real-time video stabilization without phantom movements for micro aerial vehicles. EURASIP J. Image Video Process. 2014(1), 46 (2014)
Aguilar, W.G., Angulo, C.: Real-time model-based video stabilization for microaerial vehicles. Neural Process. Lett. 43(2), 459–477 (2016)
Parrot. Dron Parrot Bebop 2 FPV|Sitio Web Official de Parrot [Internet]. 2019 [cited 2020 Jan 8]. Available from: https://www.parrot.com/es/drones/parrot-bebop-2-fpv
Roberts, C.: GPS guided autonomous drone, 32 (2016). Available from: https://www.evansville.edu/majors/eecs/downloads/projects2016/CameronRobertsReport.pdf
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Merizalde, D., Aguilar, W.G., Calderón, M. (2020). Autonomous Navigation Based on Proportional Controller with GPS Setpoint for UAV in External Environments. In: Rocha, Á., Paredes-Calderón, M., Guarda, T. (eds) Developments and Advances in Defense and Security. MICRADS 2020. Smart Innovation, Systems and Technologies, vol 181. Springer, Singapore. https://doi.org/10.1007/978-981-15-4875-8_8
Download citation
DOI: https://doi.org/10.1007/978-981-15-4875-8_8
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-15-4874-1
Online ISBN: 978-981-15-4875-8
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)