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標題: | 基於基準標誌物定位系統之多台無人飛行器隊形控制 Formation Control for Multiple Unmanned Aerial Vehicles System with Fiducial Marker-Based Pose Estimation System |
作者: | Li-Yang Chang 張立揚 |
指導教授: | 連豊力(Feng-Li Lian) |
關鍵字: | 隊形控制,多智能體系統,無人飛行器,基準標誌物, Formation control,multi-agent system,unmanned aerial vehicles,fiducial markers, |
出版年 : | 2020 |
學位: | 碩士 |
摘要: | 本篇論文主要探討議題為多台無人飛行器系統的隊形控制. 其中,隊形控制主要探討的課題有三點: (1) 控制多台機器人組成指定的隊形 (2) 避免在組成隊形的過程中發生碰撞 (3) 組成指定隊形後,系統維持隊伍形狀的能力。本篇論文提出了一個能夠解決上述三個課題的多台無人機系統。 本篇論文提出的系統主要分為兩部分: 一個基於基準標誌物的定位系統以及一個隊形控制器。在定位系統部分,主要需要的資訊為每台無人機的前鏡頭影像。影像中的基準標誌物會被系統偵測並估計出無人機相對於標誌物的姿態。在所提出的系統當中,會將多個標誌物配置到地面或牆壁上以提升估計姿態的準確度。此外,此系統也訓練了一個高度預測模型來進一步提升在高度上的估測準確度。此定位系統不需消耗龐大的計算量即可展現一定準確度的定位結果。論文中隊形控制器的部分需要使用到第一部分所估計的無人機姿態。此部分設計了三個控制器分別控制無人機的高度、控制多台無人機排列隊形以及維持隊形。此外,本篇論文引入了速度調整法並搭配優先度的概念來避免排列隊形時碰撞發生。這種避障方法的原理為: 當多台無人機預計行走的軌跡交錯時,優先度低的無人機會進行減速,使優先度高的無人機先行通過軌跡交錯點。此種避障方式能有效率地進行避障,並避免許多其他類型的避障方法會遇到的問題,如滯留現象或高度不確定性。 最後,本篇論文展示了實驗與模擬結果來討論所提出系統的性能與可行性。 In this thesis, formation control in a multiple unmanned aerial vehicles system is considered. Formation control involves three problems: (1) the configuration of a defined formation shape, (2) collision avoidance during the formation configuration process, and (3) the stability after forming the formation shape. An autonomous flight system of a quadrotor team is proposed to solve these problems. The proposed system mainly consists of two parts: a marker-based pose estimation system and a formation controller. In the first part of the system, the image frames from the frontal camera of each quadrotor are required. The system estimates the pose of each quadrotor by detecting fiducial markers in the image frames. The pose estimation performance is improved by applying wall markers and ground markers at the same time. An additional height prediction model is proposed to further increase the accuracy of the estimated height values. The proposed marker-based pose estimation system is computationally light and easy to implement but also holds decent accuracy. The second part of the system requires the pose estimation results obtained from the first part of the system. Controllers for height control, formation stability, and formation configuration are proposed, respectively. A speed adjustment method along with a priority concept are introduced, which each quadrotor in the system is assigned with a unique priority. The system prevents collision from happening by allowing the quadrotor with lower priority to slow down when its future path intersects with the future path of a quadrotor with higher priority. The proposed collision avoidance method allows the system to avoid collision efficiently, while preventing uncertainty problem or dead lock situations from happening, which both problems are frequently faced in other collision avoidance method. Finally, the proposed system is evaluated through experimental results in both simulation and real world. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/51309 |
DOI: | 10.6342/NTU202002786 |
全文授權: | 有償授權 |
顯示於系所單位: | 電機工程學系 |
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U0001-1008202012494300.pdf 目前未授權公開取用 | 11.42 MB | Adobe PDF |
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