碩士 / 國立成功大學 / 系統及船舶機電工程學系 / 104 / With technological advancement in recent years, there has been a wide variety of quadrotors to carry out dangerous and complicated tasks, such as missions set by the unit of relief or unit of national defense, thereby making UAVs become prevalent. The most commonly sold quadrotors in the market must be operated with Ardupilot and a remote control. This study aims to replace the Ardupilot and remote control components with the use of a notebook and Arduino in order to make the quadrotor have an autonomous flying function that takes taking aerial images for real-time path planning for unmanned surface vehicles. With its great potential to carry out a variety of beneficial tasks, such as that of medical care, military detection or other fieldworks, the cost of creating and controlling quadrotors must be decreased. For this study, in order to achieve the goal of taking aerial images by an autonomous quadrotor, an Arduino board, two Xbees, a GY-80 sensor and a MPU6050 sensor are used. The quadrotor program is written with Arduino, where the autonomous flying function is inputted through a notebook. Furthermore, in order to stabilize the flying function of the quadrotor, a PID control program is coded to function as a ground station and ensure remote wireless control through the use of the Xbees. In this research, Ardupilot will be replaced by Arduino because it is physically light, compact, and flexible, and writing a program with Arduino can be done with ease, especially with multiple online resources and guides available. Thus, the use of Arduino will not be limited compared to Ardupilot on the market, where users can conduct further research, develop, and design many innovative features by utilizing various sensors and other products.
| Identifer | oai:union.ndltd.org:TW/104NCKU5345009 |
| Date | January 2016 |
| Creators | Yu-TangYen, 顏宇堂 |
| Contributors | Joe-Ming Yang, 楊澤民 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 88 |
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