| Summary: | 碩士 === 國立臺灣科技大學 === 自動化及控制研究所 === 103 === In recent years, the aerial mobile robots have rapid development and application. Especially in environment detection, relief disaster and sea rescue etc. However, the aerial mobile robot can only execute the environment detection in high altitude, in the low altitude cannot obtain global information.
This thesis proposed cooperate operation concept between two of different altitude aerial mobile robots. The high altitude robot provides visual global navigation. The low altitude robots according to global navigation information fly and land on helipad autonomously. The autonomous landing control is based on fuzzy logic control and neural network to improve control performance. The ground control station obtains all of the information and send control commend which can achieve efficacy of wireless control.
The experiment analysis is based on three parts which are vision global navigation system of high altitude robot, autonomous landing system of low altitude robot and two aerial robots cooperate operation. The autonomous landing error of low altitude robot is 6.53 cm; the locking rate in indoor environment is 82.88%. The landing error in outdoor environment is 65.33 cm and the locking rate is 54.08%. The visual global navigation system of high altitude robot success rate is 42.8% in indoor environment, in outdoor environment only have 3.39%. The experiments proved that approach can achieve real time autonomous landing system for indoor and outdoor environment. However, the cooperation operation performance only achieve in indoor environment, performance need improved.
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