VGU RESEARCH REPOSITORY
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https://epub.vgu.edu.vn/handle/dlibvgu/880
Title: | Controlling the drone in stable state based on image processin and devloping the function of object tracking on server | Authors: | Ly Kim Hoanh | Keywords: | Image processing function;Unmanned air vehicles (UAV);Automation;Drone's movement;C++;Motion control;Robotics platform;Tracking | Issue Date: | 2016 | Publisher: | Vietnamese-German University | Abstract: | The growth of using unmanned air vehicles (UAV) is quickly increasing, the requirement of developing of control algorithms improve the ability of these devices become necessary more than ever. One of the most valuable capability is persistent tracking object which can autonomously detect, track and follow a moving object. This thesis focuses on the motion control of the drone by using image processing functions which are set up on the server. OpenCV library supports template matching, color detection, and feature detection that are possible methods commonly using in tracking fields. This research studied on feature detection to determine the translation of drone's movement for controlling the drone in the stable state and tracking a moving object. The tracking function is implemented in C++ by newly algorithm in computer vision, Scale invariant Feature Transform (SIFT). A system was built up to communicate among drone, smartphones, and server via Wi-Fi link. The image processing functions on the server are applied for calculating the movement parameters of the drone based on images which were captured by the front camera image. Image processing functions have ability of process low-resolution video (640x480 pixels) at 1-10 frames per second. The android controller application on the smartphones received feedback results from the server forcontrolling the drone in the stable state or autonomously tracking and following a moving target in the unknown environment. Experimental results are obtained to prove the efficiency of using image processing functions for motion control of the drone. |
URI(1): | http://epub.vgu.edu.vn/handle/dlibvgu/880 |
Appears in Collections: | Mechatronics & Sensor Systems Technology (MSST) |
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Controlling the drone in stable state based on image processin and devloping the function of object tracking on server.pdf | 2.23 MB | Adobe PDF |
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