Guiado y control autónomos de un vehículo aéreo cuatri-rotor para adquisición de imágenes de viñedos

Abstract

This paper details the design of an autonomous system for the guidance and control ofan unmanned aerial vehicle of four rotors. The robot mission is the acquisition of highresolution images of farmland, vineyards in particular, devoted to a precisionagriculture. Using low-cost technologies, the crops can be monitored closely and moreoften to optimize field-level management, what improves the product quality with alower environmental impact.The system operation is hierarchical. Once scheduled the flight strategy according toGPS assignments, trajectories are generated to achieve progressively the target pointswith the maximum reliability and speed. The orientation of the aerial vehicle is innercontrolled, which regulates the speed and movement direction onto two axes,according to the marked path and without exceeding the limits of flight stability. All thisrequires firstly the identification of mathematical models, to perform simulation testsand to apply the control theory. Feedback controllers are designed in the frequencydomain. Guidance and control algorithms are implemented in a microcontroller device.