Sistema de inspección y vigilancia utilizando un robot aéreo guiado mediante visión artificial

  • Andrés Felipe Silva Bohórquez Ingeniero Mecatrónico. Investigador Semillero de Investigación de Automatización, Robótica y Control-A&C Universidad de Pamplona.Pamplona
  • Luis Enrique Mendoza M.Sc. Ingeniería Biomédica Docente Tiempo Completo, Investigador Grupo de Ingeniería Biomédica,Universidad de Pamplona. Pamplona
  • César Augusto Peña Cortés Ph.D. Automática y Robótica Docente Tiempo Completo, Investigador Grupo Automatización y Control,Universidad de Pamplona. Pamplona

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.

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Published
2014-02-24
Section
Research and Innovation Articles