Implementation and comparison of navigation algorithms for unmanned aerial vehicles

• Grant number: 15/21249-2
• Support Opportunities: Scholarships in Brazil - Scientific Initiation
• Effective date (Start): November 01, 2015
• Effective date (End): October 31, 2016
• Field of knowledge: Physical Sciences and Mathematics - Computer Science - Computer Systems
• Principal Investigator: Kalinka Regina Lucas Jaquie Castelo Branco
• Grantee: Guilherme Villela Pelizer
• Host Institution: Instituto de Ciências Matemáticas e de Computação (ICMC). Universidade de São Paulo (USP). São Carlos , SP, Brazil

Abstract

Unmanned Aerial Vehicles (UAVs) are able to fly autonomously thanks to the control system or autopilot. A major function of this system is to perform navigation such as following pre-programmed paths by setting waypoints. This project aims to study and develop algorithms for tracking trajectories in 2D and 3D scenarios. In 2D the aircraft maintain the same altitude and in 3D the aircraft moves in its six degrees of freedom. Algorithms selected from the literature are compared by simulations and taking in consideration the aircraft kinematic and dynamic model. The simulations are based on X-Plane flight simulator. In this project we expected get as a result comparisons of the accuracy algorithm and the computational cost of each algorithm, since the target platform has limited resources (small UAVs).