Diseño e implementación de estrategias de control con UAV con fines de seguimiento de objetos

Abstract

The design and implementation of a PID control is proposed to allow estimation of the different errors that may exist in each of the movements described by the drone. Cascade control is a control setting where the output of one feedback controller is the setpoint for at least another feedback controller. Cascade control involves feedback control systems. Cascade control involves feedback control systems. It is proposed to use this control technique and adapt it for error estimation within movements and thus provide a reference for PID control to eliminate this error. That is why we propose the design, implementation and comparison of servo-visual control strategies for the detection and tracking of objects within a controlled environment using programs such as ROS, Python and/or Matlab. Initially the control is applied to make a face tracking by implementing a code in Python, this is done by using the PyCharm software, implementing a PID controller in this, the purpose of this project is to track objects and/or people, and in said tracking to maintain a stationary flight, that is, to maintain the same height and the same perspective of the object that is being followed.