| Summary: | 碩士 === 國立臺北科技大學 === 電機工程系所 === 101 === This paper presents the visual servoing design of the micro aerial vehicle flying through the staircase. Two cameras mounted on the front and belly of the micro aerial vehicle are utilized to observe the staircase by turns. Since the field of view of the camera and the bandwidth of the image transmission are limited, the cameras are switched according to the visual information of the staircase. The suitable camera will be activated to extract the visual feature of each section in the staircase for guiding the micro aerial vehicle. When the micro aerial vehicle flying from one floor into the staircase entrance, the direction of upstairs/downstairs can be decided by evaluating the edge amount with the edge direction analysis. The visual features of the stairs, wall, railing, and the middle landing plane, are described to estimate the location and orientation of the micro aerial vehicle in the staircase. The pose of the micro aerial vehicle on the straight stairs is further estimated through the probabilistic data association filter to improve the robustness in the cluttered environment. The obtained visual information is then used to be the bases of navigating the micro aerial vehicle. The visual servoing based on the fuzzy logic is proposed to control the micro aerial vehicle aligning the staircase entrance and flying through the straight stairs. The online flying in the staircase is verified in several experiments to demonstrate the efficiency of the overall system.
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