Simulation of Trajectory Tracking Control for Patrol UAV Based on PLC
In order to ensure that the drone can effectively complete the tasks during the inspection process,this paper proposed a tracking control method for patrol UAV based on Programmable Logic Controller(PLC).Firstly,an improved homomorphic filter algorithm was used to enhance the image captured by the drone,thus obtaining clear im-ages.Secondly,the scanning plan and inspection strategy of the UAV were obtained by using the line guidance scan-ning and center line fitting methods.Meanwhile,a model of trajectory tracking control was built by the PLC control method.Finally,trajectory tracking control was achieved.The experimental results show that the proposed method can effectively reduce the error of trajectory tracking control,and the response time is less than 60ms,which comprehen-sively improves the work efficiency of patrol UAV.
万方数据
维普
