多重感測器融合應用於六旋翼飛行機器人之研製

由於無人飛行載具具有重量輕、體積小、高機動性、自主性等優點，近年來成為各國熱門之研究目標。在現今微機電(MEMS)技術蓬勃發展的時代，可以將智慧型功能移植應用在六旋翼飛行載具上，這使其六旋翼飛行載具成為具備飛行能力的智慧型機器人。本論文主對六旋翼飛行載具進行動力學模型推導與模擬研究並將多重感測器(Multi-sensors)技術應用於六旋翼飛行機器人上。本研究利用多重感測器融合理論( Multi-sensors fusion)，使飛行機器人在未知的環境下利用氣壓高度計與超音波(Ultrasonic)感測器完成定高飛行(Altitude hold)之功能。而紅外線與超音波達感測器可成自主避障功能(Obstacle avoidance);光流感測器(Optical flow sensor)則可在GPS信號失聯或室內的環境下達到定點停懸飛行之功用。此外，本文也利用Matlab軟體寫入PID控制法作為飛行機器人閉迴路控制之模擬，以達到自主平衡與停懸(Hovering)驗證需求。

關鍵字

無人飛行載具；六旋翼；多重感測器；光流；避障

並列摘要

Due to the unmanned aerial vehicle (UAV) has the advantages of light weight, small size, and better dynamic performance, it has always been the highlight on research topics in recent years. Today, as the micro electro-mechanical systems(MEMS) is booming rapidly, various sensors and intelligent functions that applied in robots can be transferred and applied to the hexa-rotor aerial robot, as this will make the hexa-rotor become an intelligent robot that can fly. In this thesis, the dynamic model of the robot and multi-sensors had been well studied and applied to the hexa-rotor aerial robot, as well as verifing the feasibility through experiments. In this research, we applied the multi-sensors fusion to the hexa-rotor aerial robot achieved altitude hold by using barometric altimeter and ultrasonic sensors, accomplished self-obstacle-avoidance through infrared and ultrasonic sensor. The optical flow sensor can guide the hexa-rotor to hover around to the fixed position in indoor environments when the GPS signals cannot be received. In addition, a matlab software coded PID control is embedded to simulation the self-balancing and hovering, this controls the parameters for quick response and minimizing the fluctuation.

並列關鍵字

UAV ； Hexa-rotor ； Multi-sensors fusion ； Optical flow ； Obstacle avoidance

參考文獻

[17] 曾宥竣，“四旋翼飛行機器人與影像追蹤之整合應用”，國立虎尾科技大學航空與電子科技研究所碩士論文，2011.

[23] 林楷昇，“利用光流獲取無人飛行器速度與偏航角”，淡江大學航空太空學系碩士論文，2012.

[1] Helicopter History, 2013/05.

[9] Liangliang Yin, Jingkui Shi and Yimin Huang, “Modeling and control for a six-rotor aerial vehicle”, Proceedings of 2010 IEEE International Conference on Electrical and Control Engineering, pp. 1289-1292, 2010.

[11] Bouabdallah, S. and Noth, “A.PID vs LQ control techniques applied to an indoor microquadrotor”, Proceedings of the IEEE International Conference on Intelligent Robots andSystems, Sendai, Japan, Oct. 2004.

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多重感測器融合應用於六旋翼飛行機器人之研製

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