四旋翼飛行機器人與影像追蹤之整合應用

Visual Track System Applied in Quadrotor Aerial Robot

曾宥竣(Yu -Chiung Tseng)

指導教授 ： 鄒杰烔

國立虎尾科技大學/工程學院/航空與電子科技研究所/碩士(2012年)

https://doi.org/10.6827/NFU.2012.00002

摘要

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之一。
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垂直升降無人飛行載具上的，本研究將把多重感測器(Multi-sensors)技術用於四旋翼垂直升降無人飛行載具上，並且結合影像處理，使四旋翼飛行機器人在接收不到 GPS 訊號的室內，也能達成定點停懸，並進而完成影像追蹤(Visual tracking)之功能。

關鍵字

無人飛行載具 ； 四旋翼 ； 垂直起降 ； 飛行機器人 ； 影像處理 ； 影像追蹤 ； 特徵辨識

並列摘要

Unmanned aerial vehicle (UAV) had developed for many years, with quad-rotor vertical take-off and landing (VTOL) unmanned aerial vehicle developing fastest. The equations of its flight attitude have been derived and verified by some scholars.
Today, when the robot technology is booming, various sensors and intelligent functions that applied in robots can be transferred and applied to the quad-rotor unmanned aerial robot. It will make the quad-rotor unmanned aerial robot not an ordinary UAV any longer, but an intelligent robot that can fly.
In this research, the image processing technique had been integrated with the quad-rotor aerial robot. The aerial robot cannot receive the GPS signal for positioning in an indoor environment. With the image processing technique, the quadcopter can hover around a fixed position or visual track a moving object in an indoor environment.

並列關鍵字

Quad-rotor ； Aerial robot ； Image processing ； Visual tracking

參考文獻

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