Diseño e implementación de un algoritmo de seguimiento de trayectorias para el minidron Parrot mambo utilizando – Simulink/Stateflow
This document presents the proposal for the design and implementation of a trajectory tracking algorithm that will be incorporated into the flight control system of the Parrot Mambo minidrone, with the aim of performing autonomous flights. The tracking algorithm will be developed in three phases: in...
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| Format: | Trabajo de grado (Pregrado y/o Especialización) |
| Language: | spa |
| Published: |
Universidad Antonio Nariño
2022
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| Online Access: | http://repositorio.uan.edu.co/handle/123456789/7269 |
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| Summary: | This document presents the proposal for the design and implementation of a trajectory
tracking algorithm that will be incorporated into the flight control system of the Parrot
Mambo minidrone, with the aim of performing autonomous flights. The tracking algorithm
will be developed in three phases: initially a sequence of images will be processed through
three processes that are; binarization, segmentation, and pixel counting, then the algorithm
will be designed through the design of the state machine for data acquisition and processing
and finally the algorithm will be validated through Simulink/Stateflow considering four
scenarios where it will be tested the performance.
Likewise, in the development of this document, an effectiveness of 93.33% success was
demonstrated in the different performance tests of the algorithm, and part of the efficiency is
presented in the data collection, the pulses emitted by the different sensors that were
generated from the image, the duration of each pulse is variable and can range from 9 s to
end at 18 s, and the response time seen in the final movement of the drone lasts exactly the
time that the pulses take |
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