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Title: Color Identification for Quadcopter Flight Control and Object Inspection
Authors: Yi-Sheng Lee
Jih-Gau Juang
Contributors: 國立臺灣海洋大學:通訊與導航工程學系
Keywords: Quadcopter
image identification
proportional–integral–derivative control
fuzzy system
obstacle avoidance
Date: 2018-10
Issue Date: 2019-06-21T03:45:40Z
Publisher: Advances in Mechanical Engineering (SCI)
Abstract: Abstract: This study focuses on quadcopter flight control and image application. The proposed quadcopter can be applied toinspect rust or damage areas of ship hull. Real-time image identification with proper devices is also proposed.Proportional–integral–derivative control and fuzzy control are used in flight control design. Due to hardware limitationof the quadcopter, complicate control theory is avoid in controller design. A simple fuzzy control is used in this study. Insensor fusion, air pressure altimeter, Global Positioning System (GPS), ultrasonic sensor, and optical flow sensor are uti-lized to maintain altitude holding in outdoor and indoor environments. In color identification, Pixy (CMUcam5) camerais used to perform image processing and image tracking. Signals from different sensors are processed in the Arduinoboard. In flight simulation, pitch and roll angle commands are constructed in a rule table. Flight control can be performedby feedback tracking error, and software simulations for proportional–integral–derivative and fuzzy control are given.
Relation: 11(2) pp.1-16
URI: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/52278
Appears in Collections:[通訊與導航工程學系] 期刊論文

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