A route creator algorithm for Saildrones by comparing a straight-line pseudo route and wind direction

Córdova D.; Vinces L.; Oliden J. · Proceedings of the LACCEI international Multi-conference for Engineering, Education and Technology (2023)

Resumen

Control algorithms for drones are commonly focused on transporting the robot from point A to point B, this type of straight path becomes sufficient in the case of aerial drones, but since it is a Saildrone (marine drone propelled in a partially or totally by a sail, commonly rigid), straight navigation between 2 points is less than optimal. That is why navigation strategies are used to control vehicles with sails, consisting of the variation of the angle of attack of the sail and the route that the vehicle will follow. This last parameter of the strategy is the one that is sought to be obtained using an algorithm based on obtaining the coordinates in real time of the drone and the destination point, together with the direction of the wind and the inclination of the Saildrone concerning magnetic North, uniting all this data through analytical geometry equations; to be implemented in an autonomous drone controlled by a Raspberry Pi 4 SBC. In this way, it is sought that the generated routes are similar to those commonly used in sailboat navigation, with the ability to update the route in case it varies from unexpectedly the initial parameters, whether they are the location of the boat or the direction of the wind, to obtain an energy saving greater than 50% to following a route in a straight line. The purpose of this project is to build a route generator with low processing costs for low-resource drones. In this way, it is sought that the generated routes are similar to those commonly used in sailboat navigation, with the ability to update the route in case the initial parameters change unexpectedly, whether they are the location of the vessel or the direction of the wind., to obtain energy saving greater than 50% by following a route in a straight line. The purpose of this project is to build a route generator with low processing costs for low-resource drones. In this way, it is sought that the generated routes are similar to those commonly used in sailboat navigation, with the ability to update the route in case the initial parameters change unexpectedly, whether they are the location of the vessel or the direction of the wind., to obtain energy saving greater than 50% concerning following a route in a straight line. The purpose of this project is to build a route generator with low processing costs for low-resource drones.

Instituciones: Universidad Peruana de Ciencias Aplicadas