使用四旋翼直升機之顏色物件追蹤

無人飛行器(Unmanned Aerial Vehicle，UAV)的發展已有多年，其中又以四旋翼垂直起降無人飛行載具(Quad-Rotor Vertical Take-Off and Landing Unmanned Aerial Vehicle)的發展最為蓬勃迅速。發展至今，四旋翼垂直升降無人飛行載具已是一種能夠穩定飛行的無人飛行載具，然而在機器人技術蓬勃發展的現今，各種裝置在機器人上的感測器及一些智慧型的功能，其實是可以被移植並且應用在四旋翼直升機上的，把四旋翼直升機上裝有的攝影機不再只是單單的拍攝影像，而是利用攝影機拍攝回傳的影像進行顏色的物體追蹤，以增加四旋翼直升機功能多樣性。本研究主要使用Python程式語言進行編寫程式，本文首先介紹四旋翼直升機周邊設備與使用軟體，機架類型使用X型多旋翼直升機，飛行控制面板使用3DR Robotics公司開發的Ardupilot 2.6，顏色物體追蹤演算法使用到的是Open Source Computer Vision Library (OpenCV)取得目標物體中心點運算，讓四旋翼直升機根據目標物中心點進行追蹤。對於取得目標物體後影像處理，本研究使用HSV中H範圍進行顏色二值化處理，再對目標物進行型態學中的open與close，最後本論文中對於四旋翼直升機的通訊協議使用的是MAVLink協議進行傳送與接收相關命令如高度、姿態與對於四旋翼直升機的控制。

關鍵字

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並列摘要

Unmanned Aerial Vehicle (UAV) has been developed for many years. Among the UAVs, the Quad Quad-Rotor Vertical Take-Off and Landing Unmanned Aerial Vehicle develop rapidly. Quad-Rotor UAVs have developed into a steady flying unmanned vehicle. As robotics rapidly develops, many applications onto robots to enhance its sensor and artificial intelligence can actually be applied to the Quad-Rotor UAV as well. The goal of this research is to enhance the video content applications, in which the video are captured from the camera on the Quad-Rotor UAV. The camera takes photographs and records videos, and in the meanwhile, we add the exceptional ability to track the objects by making use the color feature. In this study, we use the programming Python to implement the color-tracking functionality. We introduce the peripherals and the relative software of the Quad-Rotor UAV. The main body structure of our Quad-Rotor UAV is X-shape. The main autopilot is Ardupilot 2.6 from 3DR Robotics. We adopt the Open Source Computer Vision Library (OpenCV) to implement our color-tracking algorithm. Essentially, we compute the centroid of an object and program the Quad-Rotor UAV to track the centroid. In the image processing, we use binary segmentation on the component Hue in the HSV color space. Then we perform open and close operation on the resulting binary image. In the Quad-Rotor UAV telemetry, we adopt MAVLink protocol to receive the status and send the corresponding commands such as the altitude and attitudes of the UAV in order to achieve the vehicle controls.