Luận văn thạc sĩ Kỹ thuật cơ điện tử: Thiết kế bộ điều khiển cho quadcopter kết hợp thị giác máy tính bám đối tượng di động

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This thesis presents an approach for determine the position of unmanned aerial vehicles (UAVs) which can replace for traditional method such as use a global positioning system (GPS) and an inertial measurement unit (IMU) for position estimation from their surrounding environment To achive its maneuverability, it is necessary to recognize the surrounded object of environment, handle and respond to it immediately Therefore, the thesis also proposes a direct visual servoing system for UAVs, by this way, the issue of control latency can be effectively solved because the position control signals are transmitted to the flight controller directly The thesis also demonstrates from theory, simualation and experiment, the UAV could recognize a target updating in real time and a target tracking task was successfully realized The thesis is arranged into 5 chapters:

Chapter 1: OVERVIEW

Chapter 2: THEORETICAL BASIS

Chapter 3: DESCRIBE HARDWARE AND SOFTWARE Chapter 4: SIMULATION AND EXPERIMENT RESULTS

Chapter 5: CONCLUSION AND DEVELOPMENT ORIENTATION

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