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Trajectory Planning of a Quadrotor to Monitor Dependent People

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Understanding the Brain Function and Emotions (IWINAC 2019)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 11486))

Abstract

This article introduces a framework for assisting dependent people at home through a vision-based autonomous unmanned aerial vehicle (UAV). Such an aircraft equipped with onboard cameras can be useful for monitoring and recognizing a dependent’s activity. This work is focused on the problem of planning the flight path of a quadrotor to perform monitoring tasks. The objective is to design a trajectory planning algorithm that allows the UAV to position itself for the sake of capturing images of the dependent person’s face. These images will be later treated by a base station to evaluate the persons emotional state, together with his/her behavior, this way determining the assistance needed in each situation. Numerical simulations have been carried out to validate the proposed algorithms. The results show the effectiveness of the trajectory planner to generate smooth references to our previously designed GPI (generalized proportional integral) controller. This demonstrates that a quadrotor is able to perform monitoring flights with a high motion precision.

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Acknowledgments

This work has been partially supported by Spanish Ministerio de Ciencia, Innovación y Universidades, Agencia Estatal de Investigación (AEI)/European Regional Development Fund (FEDER, UE) under DPI2016-80894-R grant. Lidia M. Belmonte holds FPU014/05283 scholarship from Spanish Ministerio de Educación y Formación Profesional.

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Authors and Affiliations

  1. Instituto de Investigación en Informática de Albacete, Universidad de Castilla-La Mancha, 02071, Albacete, Spain

    Lidia M. Belmonte, Rafael Morales, Arturo S. García, Eva Segura & Antonio Fernández-Caballero

  2. Escuela Técnica Superior de Ingenieros Industriales, Universidad de Castilla-La Mancha, 02071, Albacete, Spain

    Lidia M. Belmonte, Rafael Morales, Arturo S. García, Eva Segura & Antonio Fernández-Caballero

  3. Escola de Engenharia, Universidade do Minho, Campus de Gualtar, 4710-057, Braga, Portugal

    Paulo Novais

Authors
  1. Lidia M. Belmonte
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  2. Rafael Morales
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  3. Arturo S. García
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  4. Eva Segura
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  5. Paulo Novais
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  6. Antonio Fernández-Caballero
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Corresponding author

Correspondence to Antonio Fernández-Caballero .

Editor information

Editors and Affiliations

  1. Universidad Politécnica de Cartagena, Cartagena, Spain

    José Manuel Ferrández Vicente

  2. Universidad Nacional de Educación a Distancia, Madrid, Spain

    José Ramón Álvarez-Sánchez

  3. Universidad Nacional de Educación a Distancia, Madrid, Madrid, Spain

    Félix de la Paz López

  4. Universidad Politécnica de Cartagena, Cartagena, Spain

    Javier Toledo Moreo

  5. The Ohio State University, Columbus, OH, USA

    Hojjat Adeli

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Belmonte, L.M., Morales, R., García, A.S., Segura, E., Novais, P., Fernández-Caballero, A. (2019). Trajectory Planning of a Quadrotor to Monitor Dependent People. In: Ferrández Vicente, J., Álvarez-Sánchez, J., de la Paz López, F., Toledo Moreo, J., Adeli, H. (eds) Understanding the Brain Function and Emotions. IWINAC 2019. Lecture Notes in Computer Science(), vol 11486. Springer, Cham. https://doi.org/10.1007/978-3-030-19591-5_22

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  • DOI: https://doi.org/10.1007/978-3-030-19591-5_22

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-19590-8

  • Online ISBN: 978-3-030-19591-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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