CBL - Campus del Baix Llobregat

Projecte llegit

Títol: Sistema de planificación y ejecución de planes de vuelo indoor para drones

Estudiants que han llegit aquest projecte:

Director/a: VALERO GARCÍA, MIGUEL

Departament: DAC

Títol: Sistema de planificación y ejecución de planes de vuelo indoor para drones

Data inici oferta: 03-09-2025     Data finalització oferta: 03-04-2026


Estudis d'assignació del projecte:
    GR ENG SIST AEROESP
Tipus: Individual
 
Lloc de realització: EETAC
 
Paraules clau:
Indoor, waypoint, dron, local telemetry, autonomous actions
 
Descripció del contingut i pla d'activitats:
 
Overview (resum en anglès):
This Final Degree Project presents the design and implementation of a complete indoor flight plan planning and execution system for drones, intended for environments in which the use of global positioning systems is not feasible or is inaccurate. The main objective of the project is to develop a software platform that allows users to graphically define enclosed spaces, plan trajectories using waypoints, and execute missions autonomously, integrating both drone motion control and the execution of actions associated with each point along the trajectory.
The developed system enables the creation of rooms delimited by walls, the establishment of a local coordinate origin, and the definition of flight plans composed of an ordered sequence of waypoints. Specific actions can be associated with each waypoint, such as capturing photographs, recording video, waiting for a predefined time interval, rotating the drone, or landing. These actions are executed automatically when the drone reaches each target point. Navigation is based on the use of local telemetry in NED (North-East-Down) coordinates, which enables precise motion control without reliance on GPS and ensures consistency between graphical planning and the actual execution of the trajectory.
The methodology followed was incremental and iterative, starting with the analysis of the state of the art and the definition of the system's functional and non-functional requirements. On this basis, a modular architecture was designed, clearly separating flight planning, drone control and communication, the graphical user interface, and auxiliary services.The implementation was carried out using the C# programming language on the .NET platform, developing a desktop application with an intuitive graphical interface that facilitates the creation and editing of indoor environments and flight plans. The csDronLink library was used as the basis for communication with the drone and was adapted and extended to incorporate support for local telemetry, continuous vector-based motion control and more flexible handling of drone orientation.
The results obtained validate the correct operation of the system in simulated indoor environments, demonstrating the execution of smooth and stable trajectories, dynamic adjustment of the drone's speed and heading and the correct sequential execution of actions associated with waypoints. Likewise, the structured capture and storage of multimedia results generated during missions were verified. Overall, the project provides a functional, robust, and extensible solution for indoor flight planning and execution.

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