Estudio, desarrollo e integración de equipos auxiliares para el control y/o monitoreo de plataformas robóticas : Diseño e implementación de un prototipo auxiliar que envíe información al autopiloto de un dron enfocado a la aplicación de evasión de obstáculos.

Abstract

A very common problem when performing missions with Unmanned Aerial Vehicles (UAV) is that they can suffer collisions with objects present around their environment, which can cause irreparable damage. Therefore, an obstacle avoidance auxiliary system for a UAV is designed and implemented in this work. For this purpose, first, a bibliographic study of different commercial avoidance systems and their sensors for object detection is presented. Additionally, we present a brief description of the Pixhawk Cube controller, the MAVLink protocol, and the artificial vision technique based on morphological operations. This auxiliary system has a part focused on detecting the position and distance of the object to evade, which is done using artificial vision and a LIDAR Lite sensor. The second part is the guided evasion maneuver that is carried out by the UAV to avoid the collision. Different command messages provided by MAVLink through the pymavlink library are used to perform this maneuver. To test the operation of the auxiliary system it was necessary to design and print 3D parts, on which the prototype is mounted. The tests show the guided obstacle avoidance maneuver is stable and prevent potential collisions.