Please use this identifier to cite or link to this item:
|Title:||Vision based control using parrot AR drone quadrotor||Authors:||Muhammad Ruzaini A. Rasip.||Keywords:||DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics||Issue Date:||2013||Abstract:||This paper, is the author's Final Year Project report represent the research on Vision Based Control of Quad-rotor and experimental of dynamic stability as well as vision tracking. It is to evaluate the development of a quad-rotor having the ability to localize, navigate & tracking autonomously in unknown and GPS denied environment. Through performance & surrounding’s data, the function techniques uses on-board monocular camera and quad-rotor navigates independently from any artificial markers or external sensors. The approach comprises systems; 1) Monocular key frame based on simultaneous localization and mapping (SLAM) system for the position estimation and projector path; depicts through GUI. 2) Installation of Kalman Filter and PID controller which allows control dynamics to fuse, synchronize and governs the orientation position of drone to its projector flight path & scale estimation. 3) Installation of the selective tracking system into the Drone’s view, using continuous adaptive mean shift algorithm (Camshift). With regards to time-frame and planning, construction of the Drone is not a requirement. From embedded sensory installed, data captured will thus generate a visual map of 3D environment. It is based through mathematical statistical formulation of Maximum Likelihood (ML) approach method. Derivation of a closed loop system, for the ‘maximum likelihood estimator of the scale’ is needed.GUI will be created for the environment and captured data display in real-time. Captured data would link to excel for documentation. Final phase of this project would be the implementation of the tracking system through camshaft technique. The subject will be tracked on selective basis from the input of the user.||URI:||http://hdl.handle.net/10356/55133||Rights:||Nanyang Technological University||Fulltext Permission:||restricted||Fulltext Availability:||With Fulltext|
|Appears in Collections:||EEE Student Reports (FYP/IA/PA/PI)|
Page view(s) 50318
checked on Oct 26, 2020
checked on Oct 26, 2020
Items in DR-NTU are protected by copyright, with all rights reserved, unless otherwise indicated.