| dc.contributor | 資科系 | |
| dc.creator (作者) | 劉吉軒 | |
| dc.creator (作者) | Jyi-Shane Liu | |
| dc.creator (作者) | Li, Gong-Yi | |
| dc.creator (作者) | Soong, Ru-Tai | |
| dc.creator (作者) | Huang, Yen-Ting | |
| dc.date (日期) | 2019-11 | |
| dc.date.accessioned | 4-Jun-2021 14:50:51 (UTC+8) | - |
| dc.date.available | 4-Jun-2021 14:50:51 (UTC+8) | - |
| dc.date.issued (上傳時間) | 4-Jun-2021 14:50:51 (UTC+8) | - |
| dc.identifier.uri (URI) | http://nccur.lib.nccu.edu.tw/handle/140.119/135540 | - |
| dc.description.abstract (摘要) | Most current research on autonomous UAV control are conducted in virtual environment and often focus on specific technical domains, such as communication protocol and visual computing, etc. These research are rarely integrated as one, making it less applicable and effective. However, application platforms solving practical problems require system integration in real-world environments. In this paper, we propose a UAV task-oriented flight control system integrated with real-time sensing based on Robot Operating System. The flight control system also incorporates behavior tree as a decision control mechanism. We apply our system in a building inspection task, whereas the UAV takes-off near the riverbank, flies forward following the road across a bridge, and arrives at a designated building to perform a zig-zag image scan. The system is implemented and field tested on a ready-to-fly quadrotor. Captured images are transmitted through Wi-Fi to a laptop for real-time visual sensing, and flight directions are then calculated and provided to the UAV for navigation. Our experiment shows promising results - the UAV can successfully complete the task within 25 minutes. Some suggestions and solutions are provided for future improvements. | |
| dc.format.extent | 583967 bytes | - |
| dc.format.mimetype | application/pdf | - |
| dc.relation (關聯) | Proceedings of the 2019 International Conference on Technologies and Applications of Artificial Intelligence (TAAI), National University of Kaohsiung | |
| dc.subject (關鍵詞) | Visual Sensing; Real-Time Computing; UAV; Navigation Control; Behavior Tree; Robot Operating System | |
| dc.title (題名) | UAV System Integration of Real-time Sensing and Flight Task Control for Autonomous Building Inspection Task | |
| dc.type (資料類型) | conference | |
| dc.identifier.doi (DOI) | 10.1109/TAAI48200.2019.8959825 | |
| dc.doi.uri (DOI) | https://doi.org/10.1109/TAAI48200.2019.8959825 | |
