Comparación entre simulación e implementación de estrategias de seguimiento de línea en mini-drones Parrot Mambo

Abstract

The inspiration for participating in the MathWorks Minidrone Competition organized by the company MathWorks, creator of Matlab, is what has given life to this project. The objective of the contest is to develop an algorithm for a line-follower drone, based on the camera and on-board processor that has the Mambo reference minidron, manufactured by the Parrot company. Much potential was evidenced in its development, not only in academic terms but also in pedagogical terms. Therefore, the objectives of this project started by explaining the tools that were used throughout it and how they offered multiple possibilities, starting with the development of a basic algorithm for a line follower drone with basic principles. From this, the design of 3 algorithms is given, whose final objective was to be implemented in such a way that they were functional within the rules of the competition, not only for the purpose of participating in it, but also because the challenges involved in carrying out these tasks allowed us to deepen our understanding of the behavior of the drone. Part of achieving these objectives resulted from the methodology used, starting from that first algorithm helped to think about many of the aspects that the following algorithms should consider, that together with the different tests in the simulation environment allowed a relative ease implementing the algorithms in the different test tracks, the tools used to obtain information, the behavior models of the system and the way to couple to the vehicle's framework are a fundamental part of implementing an algorithm of this style.