Image-Guided Control and Orientation of a Quadrotor Using 3G Smart Phone

• Main Authors: Yu-Jen Huang, 黃昱仁
• Other Authors: Chung-Wen Hung
• Format: Others
• Language: zh-TW
• Published: 2013
• Online Access: http://ndltd.ncl.edu.tw/handle/67788992722813342718

碩士 === 國立雲林科技大學 === 電機工程系碩士班 === 101 === The information from sensor and GPS are indispensable for control of UAV (Unmanned Aerial Vehicle). During the development, the used modules and hardware circuits are often got unpredictable damages by some external factors, such as vibration, parts wear, circuit oxidation and so on. Spending more time on maintenance will reduce the efficiency of examinations, and the integration and development of every module also cost plenty of time. In addition, the modules mounted on the UAV will lead to overload which interferes with flexibilty and endurance of flying. According to these drawbacks, our research decided to replace the original integrated modules with some sensors from the built-in android operating system, such as GPS, accelerometer, gyroscope and video camera. Therefore, we can greatly reduce the burdens on UAV and minify the size and weight of the entire modules; moreover, we added the algorithms of image position control to app so that the UAV is able to trace the objects with specific colors. In the transmission part, we fed the information derived from the images and sensors data to the flight controller via bluetooth communication technology. After receiving the information returned by the controller, the phone will transmit it by 3G wireless network to the ground station, which will make a display. On the other hand, we developed the interface which could display all the information we need for the ground station. Besides, we also added the database of Google Earth Map so that users can monitor the position and action of UAV remotely and issue the command to it.