Sistema de inspección y vigilancia utilizando un robot aéreo guiado mediante visión artificial
Abstract
Este artículo presenta el desarrollo de un sistema de inspección y vigilancia el cual procesa las imágenes de las cámaras abordo con el fin de realizar una navegación autónoma o semiautónoma, según como el usuario lo especifique. El dispositivo aéreo utilizado es un cuadrotor, al que se le implementaron varias estrategias de control servo-visual para determinar la orientación, la posición del mismo y así seguir una trayectoria demarcada. Las imágenes de la segunda cámara del robot aéreo son transmitidas por la red permitiendo la inspección remota del lugar que se desea confrontar. Se realizaron las verificaciones correspondientes a los controladores, demostrando que el robot aéreo sigue diversos tipos de trayectorias satisfactoriamente.Downloads
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References
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[4] Z. Zhiyang, H. Fei, L.Jian, “Autonomous flight control system designed for small-scale helicopter based on approximate dynamic inversion,” Advanced Computer Control (ICACC). 3rd International Conference on, vol., no., pp.185,191, 18-20 Jan. 2011.
[5] A. Bogdanov, E. Wan, G. Harvey, “SDRE flight control for X-Cell and R-Max autonomous helicopters,” Decision and Control, 2004. CDC. 43rd IEEE Conference on, vol.2, no., pp.1196,1203 Vol.2, 14-17 Dec. 2004.
[6] K. Peng, M. Dong, M. Chen Ben, G. Cai, Y. Lum Kai , T.H Lee, “Design and Implementation of a Fully Autonomous Flight Control System for a UAV Helicopter,” Control Conference, 2007. CCC 2007. Chinese, vol., no., pp.662,667, July 26 2007-June 31 2007.
[7] T. Matsukawa, S. Arai, K. Hashimoto, “Autonomous flight of small helicopter with real-time camera calibration,” System Integration (SII), 2010 IEEE/SICE International Symposium on, vol., no., pp.242,247, 21-22 Dec. 2010.
[8] C.D.Hendrix, M.J Veth, R.W Carr, “LQG control design for a hovering micro air vehicle using an optical tracking system,” Aerospace conference, 2009 IEEE, vol., no., pp.1,14, 7-14 March 2009.
[9] S. Saito, B. Yue, T Mochizuki, “Autonomous flight control for RC helicopter using camera image,” SICE, 2007 Annual Conference, vol., no., pp.1536,1539, 17-20 Sept. 2007.
[10] C. Longsheng, J. Yang, W. Changkun, “Adaptive visual servo control of UAV Ground-Target-Autonomous-Tracking System,” Intelligent Control and Automation (WCICA), 2012 10th World Congress on, vol., no., pp.133,137, 6-8 July 2012.
[11] J. Zhou, X.M, Wang, X.Y Wang, “Automatic Landing Control of UAV Based on Optical Guidance,” Industrial Control and Electronics Engineering (ICICEE), 2012 International Conference on, vol., no., pp.152,155, 23-25 Aug. 2012.
[12] J. Stowers, M. Hayes, A. Bainbridge-Smith, “Beyond optical flow — Biomimetic UAV altitude control using horizontal edge information,” Automation, Robotics and Applications (ICARA), 2011 5th International Conference on, vol., no., pp.372,377, 6-8 Dec. 2011.
[13] V. Grabe, H.H Bulthoff, P.R Giordano, “On-board velocity estimation and closed-loop control of a quadrotor UAV based on optical flow,” Robotics and Automation (ICRA), 2012 IEEE International Conference on, vol., no., pp.491,497, 14-18 May 2012.
[14] C. D. Hendrix, M.J Veth, R.W Carr, “LQG control design for a hovering micro air vehicle using an optical tracking system,” Aerospace conference, 2009 IEEE, vol., no., pp.1,14, 7-14 March 2009.
[15] A. Cesetti, E. Frontoni, Q. Mancini, P. Zingaretti, “Autonomous safe landing of a vision guided helicopter,” Mechatronics and Embedded Systems and Applications (MESA), 2010 IEEE/ASME International Conference on, vol., no., pp.125,130, 15-17 July 2010.
Published
2014-02-24
How to Cite
Silva Bohórquez, A., Mendoza, L., & Peña Cortés, C. (2014). Sistema de inspección y vigilancia utilizando un robot aéreo guiado mediante visión artificial. ITECKNE, 10(2), 190-198. https://doi.org/https://doi.org/10.15332/iteckne.v10i2.421
Issue
Section
Research and Innovation Articles
