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Vision based control and landing of Micro aerial vehicles
Karlstad University, Faculty of Technology and Science, Department of Physics and Electrical Engineering.
2019 (English)Independent thesis Basic level (university diploma), 15 credits / 22,5 HE creditsStudent thesisAlternative title
Visionsbaserad styrning och landning av drönare (Swedish)
Abstract [en]

This bachelors thesis presents a vision based control system for the quadrotor aerial vehicle,Crazy ie 2.0, developed by Bitcraze AB. The main goal of this thesis is to design andimplement an o-board control system based on visual input, in order to control the positionand orientation of the vehicle with respect to a single ducial marker. By integrating a cameraand wireless video transmitter onto the MAV platform, we are able to achieve autonomousnavigation and landing in relatively close proximity to the dedicated target location.The control system was developed in the programming language Python and all processing ofthe vision-data take place on an o-board computer. This thesis describes the methods usedfor developing and implementing the control system and a number of experiments have beencarried out in order to determine the performance of the overall vision control system. Withthe proposed method of using ducial markers for calculating the control demands for thequadrotor, we are able to achieve autonomous targeted landing within a radius of 10centimetres away from the target location.

Abstract [sv]

I detta examensarbete presenteras ett visionsbaserat kontrollsystem for dronaren Crazy ie 2.0som har utvecklats av Bitcraze AB. Malet med detta arbete ar att utforma och implementeraett externt kontrollsystem baserat pa data som inhamtas av en kamera for att reglera fordonetsposition och riktning med avseende pa en markor placerad i synfaltet av kameran. Genom attintegrera kameran tillsammans med en tradlos videosandare pa plattformen, visar vi i dennaavhandling att det ar mojligt att astadkomma autonom navigering och landning i narheten avmarkoren.Kontrollsystemet utvecklades i programmeringsspraket Python och all processering avvisions-datan sker pa en extern dator. Metoderna som anvands for att utvecklakontrollsystemet och som beskrivs i denna rapport har testats under ett ertal experiment somvisar pa hur val systemet kan detektera markoren och hur val de olika ingaendekomponenterna samspelar for att kunna utfora den autonoma styrningen. Genom den metodsom presenteras i den har rapporten for att berakna styrsignalerna till dronaren med hjalp avvisuell data, visar vi att det ar mojligt att astadkomma autonom styrning och landning motmalet inom en radie av 10 centimeter.

Place, publisher, year, edition, pages
2019. , p. 93
Keywords [en]
vision, control, system, quadcopter, python, camera, vision based, landning, crazyflie, optical, visual odometry, odometry, transformation, ArUco, Kalman filter, PID, marker, rigid transformations, drone, transform, control system, homogenous transformation, ORB, detection, marker detection
Keywords [sv]
Drönare, kontroll, system, kontrollsystem, quadcopter, quadrocopter, kamera, vision, visionsbaserad, styrning, landning, crazyflie, optisk, transform, homogen transform, ORB, detektering, markör
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kau:diva-73225OAI: oai:DiVA.org:kau-73225DiVA, id: diva2:1332929
External cooperation
Bitcraze AB
Educational program
Electrical Engineering, 180hp
Supervisors
Examiners
Available from: 2019-07-01 Created: 2019-06-28 Last updated: 2019-07-01Bibliographically approved

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CiteExportLink to record
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