Quadcopter combined with machine vision development

• Main Authors: Hsu-Wu Su, 蘇許武
• Other Authors: Ji-Chang Lo
• Format: Others
• Language: zh-TW
• Published: 2018
• Online Access: http://ndltd.ncl.edu.tw/handle/gtderm

碩士 === 國立中央大學 === 光機電工程研究所 === 106 === Thesis will use Arduino as the main control, using IMU fusion quaternion algorithm to detect the pitch, roll, yaw angle and angular velocity of the fuselage, and negative feedback control through the structure of multi-layer PID to achieve self-balancing of the fuselage, In machine vision, RaspberryPi is used as a tool for image processing, and the decoded signal is transmitted back to the Arduino through the UART to compensate for the attitude. Among them, the optical flow method is used to achieve hovering, and the Hough transform is used to track the ground target. thesis will introduce the system architecture, attitude algorithm, PID feedback control structure, sensor calibration, and how to use machine vision to compensate for the attitude.