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| Title: | 無人機以視覺導航自主穿行隧道之研究
Research on Autonomous Tunnel Navigation of Quadrotor UAV Using Visual Navigation |
| Authors: | 謝文茂
Hsieh, Wen-Mao |
| Contributors: | 劉吉軒
Liu, Jyi-Shane
謝文茂
Hsieh, Wen-Mao |
| Keywords: | 四旋翼無人機
視覺導航
穿行隧道
目標檢測
目標跟蹤
飛行控制
quadcopter drone
vision-based navigation
tunnel traversal
target detection
target tracking
flight control |
| Date: | 2023 |
| Issue Date: | 2023-10-03 10:48:05 (UTC+8) |
| Abstract: | 近年來，無人機的技術已經發展得非常快速，已經被廣泛應用於各種不同的領域，例如物流、建築檢查、搜索和救援等。然而，在複雜的環境中，無人機仍然存在許多挑戰，例如自主導航和穿行隧道等。在本文中，提出了一種基於視覺導航的自主無人機穿行隧道方法。利用機上攝影機捕捉隧道內的視覺資訊，並使用電腦視覺技術模型來檢測隧道內的圖像特徵輪廓，然後利用控制演算法來控制無人機的飛行，以便穿行隧道。將此方法應用於一個實驗室的模擬環境中，並驗證了其效果。結果表明，提出的方法可以有效地控制無人機穿行隧道，並且可以在複雜的環境中穩定地飛行。
本研究是一種基於視覺導航的自主無人機穿行隧道方法，尋找入口並進入隧道，在隧道內部，再通過前方攝影機對無人機實現自主導航飛行，在飛行的同時利用攝影機擷取隧道內周圍環境的影像利用視覺導航模型來對單張圖像進行目標檢測與跟蹤，最後自主飛出隧道，整個過程無須人工干預，具有良好的自主飛行及導航能力，還具有檢測範圍廣、速度快、精確度高等特點。
In recent years, drone technology has advanced rapidly and has been widely applied in various fields such as logistics, construction inspection, search and rescue, and more. However, in complex environments, drones still face numerous challenges, including autonomous navigation and tunnel traversal. In this paper, a vision-based autonomous drone tunnel traversal method is proposed. The approach involves capturing visual information within the tunnel using an onboard camera and utilizing computer vision models to detect image feature contours within the tunnel. A control algorithm is then employed to guide the drone`s flight for tunnel traversal. This method is applied in a laboratory simulation environment and its effectiveness is validated. The results demonstrate that the proposed method can effectively guide drones to traverse tunnels and maintain stable flight within complex environments.
This study presents a vision-based autonomous drone tunnel traversal method that involves locating and entering a tunnel entrance, navigating autonomously within the tunnel using a front-facing camera, capturing the surrounding tunnel environment, performing target detection and tracking using a visual navigation model for individual frames, and autonomously exiting the tunnel, all without human intervention. This method exhibits strong autonomous flight and navigation capabilities, along with features such as broad detection range, high speed, and accuracy. |
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| Description: | 碩士
國立政治大學
資訊科學系碩士在職專班
108971003 |
| Source URI: | http://thesis.lib.nccu.edu.tw/record/#G0108971003 |
| Data Type: | thesis |
| Appears in Collections: | [資訊科學系碩士在職專班] 學位論文
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