Autonomous Navigation System for a Delivery Drone

The use of delivery services is an increasing trend worldwide, further enhanced by the COVID pandemic. In this context, drone systems are great interest as they may allow for faster and cheaper deliveries. This paper presents a navigation system that makes feasible parcels with autonomous drones. generates path between start final point controls to follow based on its localization obtained through GPS, 9DoF IMU, barometer. landing phase, information poses estimated marker (ArUco) detection technique using camera, ultra-wideband (UWB) devices, drone's software estimation merged utilizing Extended Kalman Filter algorithm improve precision. A vector field-based method desired smoothly, reducing vibrations or harsh movements could harm transported parcel. Real experiments validate strategy evaluate performance adopted techniques. Preliminary results state viability our proposal delivery.