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| Title: | 基於環境感知之樓層間貨物運送無人機自主降落決策
Research on Autonomous Landing Decision for UAV Based on Environmental Perception between Floors in Cargo Delivery |
| Authors: | 蘇冠華
Su, Guan-Hua |
| Contributors: | 劉吉軒
Liu, Jyi-Shane
蘇冠華
Su, Guan-Hua |
| Keywords: | 智慧無人機
路徑規劃
避障策略
環境感知
自主降落
Smart UAV
Path Planning
Obstacle Avoidance Strategies
Environmental Perception
Autonomous Landing |
| Date: | 2024 |
| Issue Date: | 2024-11-01 11:22:37 (UTC+8) |
| Abstract: | 隨著無人機技術的不斷發展，無人機在各個領域的應用越來越廣泛，其中包括無人機運送貨物的議題。無人機自主降落在建築物的能力對於實現無人機運送貨物的目標具有重要價值，本論文介紹了一種基於環境感知的樓層間自主降落決策系統。
本系統涵蓋的範圍包括路徑規劃、避障機制、著陸規劃。路徑規劃包括邊界引導與定位的處理與搜索路徑規劃，其中括邊界引導與定位是透過深度估計和邊緣偵測等影像處理技術並結合GPS影像中心點進行後處理，以找到目標住戶的所在面；搜索路徑規劃則是進行標記的搜尋，透過有效率的路徑規劃方式尋找住戶所在目標；避障機制階段主要是為了確保系統在垂直降落階段的安全性，故透過無人機機身的傳感器與視覺系統的結合來進行避障機制的設計；著陸規劃則是使用地面標記AprilTag進行路徑規劃引導，讓無人機在有限的陽台空間安全著陸。
本研究與過往無人機貨物運送最不同的部分在於過往研究通常只針對空曠場域進行簡單著陸，由於無較為完善的路徑規劃機制，故無法應用於建築物等複雜場域中；而此研究由於有較為詳細的路徑規劃及避障規劃，能夠讓無人機適用於大多數未知建築物。
本研究提出了一個綜合且有效的無人機應用模組，旨在實現無人機應用於運送貨物的場景。本系統結合了多種感知、決策和控制技術，在無人機運送貨物的領域具有高度的應用價值。
With the continuous advancement of drone technology, the applications of unmanned aerial vehicles (UAVs) have expanded across various fields, including the delivery of goods. The autonomous landing capability of drones on buildings is crucial for achieving the goal of unmanned aerial delivery. This paper introduces an environment-aware inter-floor autonomous landing decision system.
The system encompasses path planning, obstacle avoidance mechanisms, and landing planning. Path planning involves processing boundary guidance and localization through image processing techniques such as depth estimation and edge detection, combined with post-processing using GPS image center points to locate the target recipient’s floor. Search path planning is conducted by efficiently marking designated search areas to locate the target recipient. The obstacle avoidance mechanism ensures safety during the vertical descent phase, incorporating two obstacle avoidance systems based on visual information and the drone’s onboard sensors. Landing planning utilizes ground markers, specifically AprilTags, for path guidance, allowing the drone to safely land in limited balcony spaces.
This study differs from previous research on drone cargo delivery, particularly in addressing the challenges of complex landing scenarios within architectural structures. The detailed path planning and obstacle avoidance strategies proposed in this study make it adaptable to a wide range of unknown buildings.
The research introduces a comprehensive and effective module for drone applications, aiming to facilitate the delivery of goods using unmanned aerial vehicles. The system integrates various perception, decision-making, and control technologies, offering high applicability in the field of UAV cargo delivery. |
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| Description: | 碩士
國立政治大學
資訊科學系
111753127 |
| Source URI: | http://thesis.lib.nccu.edu.tw/record/#G0111753127 |
| Data Type: | thesis |
| Appears in Collections: | [資訊科學系] 學位論文
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