利用LabVIEW實現無人飛行器之目標追蹤

無人飛行器(Unmanned Aerial Vehicle，UAV)的發展已經有許多年，在這些年中發展最為蓬勃快速就屬四旋翼垂直起降無人飛行載具(Quad-Rotor Vertical Take-Off and Landing Unmanned Aerial Vehicle)。加上現今機器人技術的蓬勃發展，裝在機器人上的感測器及智慧型功能也都可以應用到無人飛行載具上，增加無人飛行載具功能多樣性。本論文是以LabVIEW程式語言進行編輯，首先介紹無人飛行載具AR. Drone，裡面包含視頻攝影機及無線網路，透過攝影機所擷取出來的RGB影像並經由影像分析將目標物以外的雜訊濾除後來取得目標物的位置及面積參數值，利用這些參數值就可以透過Wi-Fi給予AR. Drone控制命令來達到目標物追蹤的功能。另外一種應用像是在倉儲管理的部分，物品管理也可以運用顏色來當標示物，當有貨物要存入或提出倉庫時，遠端透過物品所代表的顏色來對擁有機器人視覺的機器人進行影像分析辨識，之後就可以進行物品的拾取，將貨物放置該倉庫之顏色分類的位置，藉此節省人力的開銷，出貨時也可以節省尋找貨物的時間。實驗結果說明了本論文設計的影像處理的方法可以讓飛行中的AR. Drone透過攝影機拍攝到的影像透過及時處理後，讓AR. Drone自主追蹤目標物，而在顏色辨識方面也可以應用在倉儲管理系統上，透過分析好的影像就可由電腦來控制機器所要選取的顏色。

關鍵字

LabVIEW ； AR Drone2.0 ；影像分析；目標追蹤；倉儲管理

並列摘要

Unmanned aerial vehicle (UAV) has developed for many years. In recent years, the quad-rotor helicopter, with vertical takeoff and landing ability, is one of the most rapidly developed UAVs. And now, the UAVs become stable flight vehicles. In addition, the advanced sensor technologies and smart functions used on robots can also be mounted on UAVs. The most popular and useful sensor is the camera. The images taken from the camera on UAV can be transferred to the host computer. Based on image processing and analysis, the functions and applications of UAVs would be much versatile. In this thesis, a quad-rotor UAV with target tracking ability is implemented using graphical programming language LabVIEW. The commercial UAV – AR. Drone, manufactured by PARROT, is adopted as the test platform. Which contains a video camera and wireless network, used the camera capture images RGB image analysis go through the image analysis will noise filter of the object to obtain the location and size parameters, the value of these parameters through Wi-Fi to sends some flight-control commands to AR. Drone such that tracking of the specific target can be achieved. Another application is in warehouse management, materials management with color when the marker, when the goods are stored in warehouses or proposed, would be through the distal end of the color of an item on behalf of the robot has a robot vision image analysis to collect items.

並列關鍵字

LabVIEW ； AR. Drone 2.0 ； vision-equipped robot ； target tracking ； warehouse management

參考文獻

[5]曾宥竣，四旋翼飛行機器人與影像追蹤之整合應用，國立虎尾科技大學，碩士論文，民國101年。

[6]鄭光亨，使用四旋翼直升機之顏色物件追蹤，義守大學，碩士論文，民國104年。

[4]Shaima Al Habsi, Integration of a Vicon camera system for indoor flight of a Parrot AR Drone,2015 10thInternational Symposium on Mechatronics and its Applications (ISMA), pp.1-6, Year: 2015

[1]http://www.crazepony.com/wiki/quadcopter-history.html

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[2]http://www.aviastar.org/helicopters_eng/convertawings.php

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利用LabVIEW實現無人飛行器之目標追蹤

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