Diseño e implementación de minidrones (mini UAVS) : Control de una cámara en minidrones.

Abstract

This document analyzes the characteristics that a camera movement control system that will be integrated into a mini UAV must have in order to comply with the characteristics of tracking an object or intruder in a surveillance system. To achieve the movement of the camera, the artificial vision process that is needed to achieve focus on the object of interest is presented through the coordinates that will be received, for which the different types of cameras that can be used for this application are studied. The mechanism that is responsible for carrying out the movements of the camera is a gimbal system with two degrees of freedom (2DOF) that allows us to comply with the characteristics of weight and adequate movements to achieve an adequate movement of the camera. To achieve the movements of the camera, the design of three controllers (PI, adaptive PI and Fuzzy control) is carried out, which will be in charge of ensuring that the gimbal system complies with each of the references sent by the artificial vision part. For each of the controllers, reference change tests are carried out in order to evaluate the behavior of the system and the errors that occur both in the sudden changes in reference and in the rotation changes of each of the links. A performance analysis is also carried out using the performance indices (ISE and ISCO) of each of the controllers to determine the best controller to be integrated into this camera control system for a mini UAV.