| Popis: |
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. |
