Navigation and Applicability of Hexa Rotor Drones in Greenhouse Environment

摘要

The paper discusses use-cases and a broad description of application possibilities of drones in greenhouses. Unmanned autonomous aerial vehicles (UAV), i.e. drones, are being used increasingly often for the direct or indirect collection of data. GPS navigation cannot be applied in an indoor work environment. One of the alternatives is to measure the distance from a fixed set of sensors with known positions. The paper presents a dynamic model for a hexa-rotor drone. In order to ensure reliable navigation a new navigation algorithm is presented based on the two-dimensional navigation algorithm of the robot motion control. It demonstrates the development of a threedimensional navigation algorithm for the hexa-rotor drone with the hypothesis that the elaborate three-dimensional model can navigate the drone in an indoor environment. To prove the hypothesis, the simulation is implemented in Scilab environment with information about the flight path deviation from the planned routes, which is also given in the work.