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Control and Path Planning for Quadrotor Oriented to Agricultural Support in Annona Muricata Crops


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DOI: https://doi.org/10.15866/ireaco.v15i5.21301

Abstract


The use of Unmanned Aerial Vehicle (UAV) devices in precision farming is more and more increasing due to the ease of this type of mechanism to traverse terrain, even those difficult to access, a UAV is implemented to optimize performances and monitor crop grow and production; however, these devices present flight issues as GPS signals blocked, decreased battery life, wrong direction and instability on air. For this reason, it is essential to carry out researches to improve the current deficiencies of UAVs, to improve their performance and their implementation in different applications for human assistance. The paper presents results obtained by the design of a control system capable of tracking trajectories built by implementing the A-star algorithm for Quadrotor-type drones. A system of two control techniques used in the tracking and positioning of a course, obtained by using the "A-star" algorithm, is constructed, and analyzed by using MATLAB® as a programming and simulation context. Thanks to the usage of these devices, the autonomy in precision farming systems is increased, generating greater effectiveness and profitability. It has been possible to conclude that the strategy studied in the research project increases the autonomy of the device and the capacity of data collection. In addition, it is an algorithm that does not require extra hardware. Also, its computational processing consumption depends only on the distance between the origin and target points.
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Keywords


Attitude; Position; Altitude; Drone; Quadrotor; Path Planning; PID; Multivariate Control

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References


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