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RISS 인기검색어
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- 저자 : ( Tzu-fang Lai ) (검색결과 1 건)
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( Yu-hung Lin ),( Tzu-fang Lai ),( Po-yen Lin ),( Tse-min Chen ) 한국농업기계학회 2018 한국농업기계학회 학술발표논문집 Vol.23 No.1
This research developed an integrated system that consist of orientation sensing, balance control, machine vision recognition and shape sorting and avoidance of obstacle with which the UVA will meet the requirement of a low altitude shuttle in orchards and forest. This research also focused on employing machine learning as the main control core to achieve the performances of target following and obstacle avoidance for unmanned aerial vehicle (UAV). In order to keep the balance of a quadcopter, the orientation data from gyroscope and accelerometer will be the inputs of a double loop PID controller. Target is recognized by machine vision. Distances and shapes of obstacles are defined by a laser rangefinder that mounted on the vehicle. The control of UAV depending on the shape of the obstacle, execute different obstacle avoidance strategies. The results of experiment indicated that the complementary filter can compensate the defects of the gyroscope and accelerometer since it fixes steady-state error of gyroscope and oscillation in high frequency of accelerometer. Double-loop PID controller is more stable than single-loop PID controller is. Due to the stability of control board and safety of operators in target following and obstacle avoidance experiment, a three wheels omni robot was employed to conduct the performance evaluation. The final results validate that the novel UAV is equipped with the ability of shuttling among orchards in low-altitude, target following, classification of obstacle shape and obstacle avoidance.
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