Design and implementation of a pattern tracking system with visual control based on images for an UAV in indoor environments.

Description: For target tracking when UAV's operate in indoor environments, they present difficulties when using the GPS signal. One of the solutions to this type of problem is visual feedback through a camera on board the aircraft. In this work we developed two types of controllers a classic PID and a controller that uses the kinematic model of the UAV that allows to make the tracking of a defined pattern in space within indoor environments, both controllers receive a visual feedback through a camera on board the UAV that by means of a calibration estimates the distances of the UAV with respect to the pattern in each of its axes, finally a comparison of results is made and it is determined that the controller with kinematic model presents an error less than 5% for each axis in trajectories greater than one meter being the most optimal in this work.
ESPE-L