Coordinación entre UAV y UGV para tareas de Búsqueda y Rescate

Se presenta un sistema autonomo de Busqueda y Rescate basado en la coordinacion entre un UAV y un UGV (este ultimo funcionando como plataforma movil de aterrizaje). El vehiculo aereo debe localizar dicha plataforma terrestre en base a una imagen aerea, seguirla y aterrizar sobre ella cuando asi le sea indicado. El algoritmo de seguimiento y aterrizaje esta basado en la combinacion de un regulador PID con un algoritmo de prediccion (basado este ultimo, a su vez, en un filtro de Kalman) con el que se van obteniendo las posiciones futuras de la plataforma. Ello facilita el seguimiento y, principalmente, el aterrizaje, ya que el UAV puede posicionarse ligeramente por delante de la plataforma de aterrizaje momentos antes de la aproximacion final y asi poder completar con exito el aterrizaje.

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