Using Stereo Vision to Acquire the Flight Information of Flapping-Wing MAVs

This paper investigates the potential to acquire flight information, including the spatial position and attitude, of a flapping-wing micro-aerial vehicle (MAV) utilizing a stereo-vision system. The flapping-wing MAV used in this paper is the Golden Snitch developed by the MEMS Laboratory in the Tamkang University. The Golden Snitch has wing span of 20 cm and weight of 8 g. Due to limited loading capacity, a conventional inertia measurement unit cannot be installed onboard. As a result, an external stereo-vision system is a potential solution to navigate a flapping-wing MAV. At beginning, techniques of image processing and stereo vision are briefly reviewed. Then, formulae to obtain flight information through the measurements of the stereo-vision system are derived. Four types of experiments are designed and accomplished to evaluate the performance of the system. Experiment results are provided to demonstrate the applicability and constraints of our algorithms.

並列關鍵字

Flapping-Wing MAV ； Stereo Vision ； Image Processing ； Attitude Determination ； Autonomous Flight

被引用紀錄

Marimuthu, S. (2015). 15克重微飛行器之機載航電元件開發 [master's thesis, Tamkang University]. Airiti Library. https://doi.org/10.6846/TKU.2015.00749

蔡長澔（2013）。太陽能拍翼式微飛行器偏航控制研究〔碩士論文，淡江大學〕。華藝線上圖書館。https://doi.org/10.6846/TKU.2013.00296

余政倫（2011）。拍翼式微飛行器之姿態控制〔碩士論文，淡江大學〕。華藝線上圖書館。https://doi.org/10.6846/TKU.2011.00913

Hsieh, C. Y. (2014). 服務創新方法之一般性模式 [master's thesis, National Taipei University of Technology]. Airiti Library. https://doi.org/10.6841/NTUT.2014.00835

蔡忠育（2009）。氧化鋅薄膜之製備與特性分析〔碩士論文，國立臺北科技大學〕。華藝線上圖書館。https://doi.org/10.6841/NTUT.2009.00521

國際替代計量

Using Stereo Vision to Acquire the Flight Information of Flapping-Wing MAVs

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