無人機於建築物周圍指定區域之視覺導航降落方法

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研究生：	劉効哲 Liu, Hsiao-Che
論文名稱：	無人機於建築物周圍指定區域之視覺導航降落方法 Visual Navigation for UAV Landing on Accessory Building Floor
指導教授：	劉吉軒 Liu, Jyi-Shane
口試委員:	廖文宏 Liao, Wen-Hung 胡伯奇 Hu, Po-Chi
學位類別：	碩士 Master
系所名稱：	理學院 - 資訊科學系
論文出版年：	2020
畢業學年度：	109
語文別：	中文
論文頁數：	59
中文關鍵詞：	無人機、決策控制、行為樹、圖像/目標特徵點辨識、視覺導航
DOI URL：	http://doi.org/10.6814/NCCU202100033
相關次數：	點閱：138 下載：34
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近年來無人機不只在軍事方面的應用，與人類日常生活的應用也逐漸普及，許多領域開始將無人機技術結合，進行開發具有自主行為能力的行為。如Google母公司Alphabet的無人機子公司Wing為全美第一家使用無人機送貨公司，利用偵測目的地和搜索著陸點的技術，實際應用在貨物運送上;美國亞馬遜在無人機上裝置感應裝置，及一般相機和紅外線相機分析周遭環境，發展能夠長途飛行的送貨無人機。
在大多數應用於現實世界的無人機任務中，降落是相當重要的關鍵步驟，尤其是在貨物運送及交付方面。當無人機成功著陸或低空盤旋於目標降落點時，貨物的交付才算成功。對於精確的著陸要求，基於視覺的導航技術具有高度的可靠性和準確性。在本文中，我們介紹了用於自主降落在建築物周圍附屬平台上的精確視覺導航的研究工作。我們結合了一些基於視覺的先進方法，開發了其他功能組件，透過行為樹進行決策邏輯的控制，整合視覺模組及無人機的飛行導航控制，以提供可用於建築物附近精確著陸的實用自主導航系統。在現實世界中的初始實驗顯示出利用視覺方式進行導航的結果，執行精確著陸的成功率很高。

第一章、緒論 1
1.1 研究背景 1
1.2 研究動機與目的 2
1.3 論文架構 5
1.4 研究成果與貢獻 5
第二章、文獻探討 7
2.1 降落問題 7
2.2 視覺導航 7
2.2.1 特徵點匹配 8
2.2.2 ORB-SLAM 9
2.3 行為樹 11
第三章、技術框架與模組 14
3.1 降落任務 15
3.1.1 識別地標建築物 15
3.1.2 定位無人機位置以建立安全的飛行路徑 16
3.1.3 鎖定畫面並接近目標 17
3.1.4 降落進行著陸 18
3.2 地標建築物圖像特徵點匹配 19
3.2.1 SIFT+RANSAC(RANdom SAmple Consensus) 19
3.2.2 目標影像特徵點匹配方式 20
3.2.3 特徵點匹配實際比對結果 23
3.3 ORB-SLAM對應真實世界的映射 27
3.4 導航控制 29
3.5 錯誤回復機制 30
3.6 行為樹決策方式之建立 32
第四章、實驗設計與結果分析 36
4.1 實驗設計 37
4.1.1 實驗指標評估 39
4.2 實驗結果與分析 39
4.2.1 根據近景圖像特徵點匹配結果降落 40
4.2.2 近景圖像特徵點匹配加上標記辨識降落 43
4.2.3 多種視覺導航依據:ORB-SLAM的錯誤回復機制 46
4.2.4 特徵點檢測受光線影響問題 48
4.3 小結 49
第五章、結論與未來展望 51
5.1 研究結論 51
5.2 未來展望 52
Reference 54

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