| Summary: | 碩士 === 國立臺灣科技大學 === 自動化及控制研究所 === 104 === Aerial mobile robots are widely used in various applications such as search and rescue in inaccessible areas, military expeditions, and object tracking. Traditional marine disaster rescue response requires lots of human sources, marine ships, and time. An Automatic Identification System (AIS) is an automatic tracking system used on ships and by Vessel Traffic Services (VTS) for identifying and locating vessels to prevent the accidents. However, current AIS stations are based on land and limited due to being stationary with a short scan range. In order to overcome these limitations, an aerial mobile robot integrated with AIS is proposed in this thesis. The AMR will be guided by the control station and fly to the accident site through GPS signal launched by AIS on the accident vessel. Simultaneously, it will collect the AIS signal which is mounted on the emergency vest and transmit it back to the control station to make the rescue process smoother and more efficient.
This thesis proposes a practical method of control for AMR autonomous landing on moving targets after executing the rescue mission. This research is focused on applying vision navigation and image processing algorithms throughout vertical-takeoff and landing (VTOL) AMR as well as image-based visual servoing (IBVS) to track the landing target. Further, we improve our results by applying the Kalman filter and Particle filter over relevant sensor data to more accurately measure the target's location and the UAV's own location. By applying these methods, we are able to land on a moving landing target within smaller error as measured from the UAV.
|
|---|
