政大機構典藏-National Chengchi University Institutional Repository(NCCUR):Item 140.119/154210

政大機構典藏-National Chengchi University Institutional Repository(NCCUR):Item 140.119/154210

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政大典藏 > College of Informatics > Department of Computer Science > Theses > Item 140.119/154210

Please use this identifier to cite or link to this item: https://nccur.lib.nccu.edu.tw/handle/140.119/154210

Title:	多旋翼無人機目標跟隨與精準空投之技術研究 Technical development on target following and precise airdrop for Multicopter
Authors:	朱其霖 Chu, Chi-Lin
Contributors:	劉吉軒 Liu, Jyi-Shane 朱其霖 Chu, Chi-Lin
Keywords:	多旋翼無人機目標跟隨精準定位精準空投 UAV multirotor drones target following precise positioning precise airdrop
Date:	2024
Issue Date:	2024-11-01 11:22:25 (UTC+8)
Abstract:	利用無人機來執行空投任務為一種非常重要的應用，在一般民用、人道救援或是軍事應用中都會有空投技術的需求。本研究運用多旋翼無人機機動性強且能夠定點懸停的特性，透過目標追蹤與跟隨演算法使無人機能自主飛行至目標物正上方，進行精準定位，並且使用自由落體空投的方式來進行空投任務的研究。本研究提出自適應的偵測方法來偵測視覺導引標記以有效提升標記在不同光照條件下的準確率與韌性，並透過精準的定位成功使無人機調整至最佳空投位置，以達到精準空投之目的。最後分析實驗結果，並深入探討以多旋翼無人機進行空投任務的應用價值與可行性。 The use of drones for airdrop missions represents a crucial application, with substantial demand across civil, humanitarian, and military sectors. This study leverages the high maneuverability and hovering capabilities of multirotor drones, employing target tracking and following algorithms to enable the drone to autonomously fly directly above the target for precise positioning. The study investigates the use of free fall airdrop methods. An adaptive detection approach is introduced to identify visual guide markers, improving detection accuracy and resilience under varying lighting conditions. Precise positioning guides the drone to the optimal airdrop location, ensuring deployment accuracy. Finally, the experimental results are analyzed, followed by an in-depth discussion on the practical value and feasibility of employing multirotor drones for airdrop missions.
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Description:	碩士國立政治大學資訊科學系 111753123
Source URI:	http://thesis.lib.nccu.edu.tw/record/#G0111753123
Data Type:	thesis
Appears in Collections:	[Department of Computer Science ] Theses

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