Trajectory planning of a quadrotor to monitor dependent people
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Autores: Lidia María Belmonte, Rafael Morales Barba, Arturo García, Eva Segura Ortí, Paulo Novais
, Antonio Fernández Caballero
- Localización: Understanding the Brain Function and Emotions: 8th International Work-Conference on the Interplay Between Natural and Artificial Computation, IWINAC 2019 Almería, Spain, June 3–7, 2019 Proceedings, Part I / José Manuel Ferrández Vicente (dir. congr.) , José Ramón Álvarez Sánchez (dir. congr.) , Félix de la Paz López (dir. congr.) , Francisco Javier Toledo Moreo (dir. congr.), Hojjat Adeli (dir. congr.), 2019, ISBN 978-3-030-19591-5, págs. 212-221
- Idioma: inglés
- Texto completo no disponible (Saber más ...)
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Resumen
This article introduces a framework for assisting dependentpeople at home through a vision-based autonomous unmanned aerial vehicle (UAV). Such an aircraft equipped with onboard cameras can be useful for monitoring and recognizing a dependent’s activity. This work is focused on the problem of planning the flight path of a quadrotor to perform monitoring tasks. The objective is to design a trajectory planning algorithm that allows the UAV to position itself for the sake of capturing images of the dependent person’s face. These images will be latertreated by a base station to evaluate the persons emotional state, together with his/her behavior, this way determining the assistance needed in each situation. Numerical simulations have been carried out to validate the proposed algorithms. The results show the effectiveness of the trajectory planner to generate smooth references to our previously designed GPI (generalized proportional integral) controller. This demonstrates that a quadrotor is able to perform monitoring flights with a high motion precision.
