Combinación de un controlador PID y el sistema Vicon para micro-vehículos aéreos

Vicon is a motion capture system that enables the estimation of translation and rotation of a moving object. The Vicon system is a set of cameras placed around a work area, the object to track moves within such area. Therefore, position and orientation of the object of interest can be estimated through the Vicon system. Motivated by this, in this work we present the implementation of a ProportionalIntegral-Derivative (PID), Since this is one of the most used controllers in robotics, thus aiming at enabling a micro-aerial vehicle to perform autonomous flight between two points. The PID controller implemented in this work utilizes the position and orientation estimates from Vicon, 161 Research in Computing Science 114 (2016) pp. 161–172; rec. 2016-03-11; acc. 2016-05-19 which runs at a frequency of 300 Hz. In addition, the Vicon system used in this work can also operate in outdoors. From the latter, our experiments include autonomous flight runs in outdoors.