摘要(英) |
Thesis will use Arduino as the main control, using IMU fusion quaternion algorithm to detect the pitch, roll, yaw angle and angular velocity of the fuselage, and negative feedback control through the structure of multi-layer PID to achieve self-balancing of the fuselage, In machine vision, RaspberryPi is used as a tool for image processing, and the decoded signal is transmitted back to the Arduino through the UART to compensate for the attitude. Among them, the optical flow method is used to achieve hovering, and the Hough transform is used to track the ground target. thesis will introduce the system architecture, attitude algorithm, PID feedback control structure, sensor calibration, and how to use machine vision to compensate for the attitude. |
參考文獻 |
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[12]xrdp 系統安裝程序:
http:// blog.pulipuli.info/ 2008/08/ windowslinuxxrdpvncserver.html
[13]機構配置 :
https://www.rotordronemag.com/guide-multirotor-motors/
[14]I2C接線圖 :
http:// www.mbeddedc.com/ 2017/05/ i2c-bus-communicationprotocol-tutorial.html
[15]I2C通信步驟圖 :
http:// ww1.microchip.com/ downloads/ en/ DeviceDoc/
20001203U.pdf
[16]UART 時序圖 :
http://magicjackting.pixnet.net/blog/post/135222109-uart |