한국지능시스템학회논문지 (Journal of the Korean Institute of Intelligent Systems)

  • 제25권6호
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  • Pages.536-541
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  • 2015
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  • 1976-9172(pISSN)
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  • 2288-2324(eISSN)
한국지능시스템학회 (Korean Institute of Intelligent Systems)
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미니드론의 영상기반 자동 비행 제어에 관한 연구

A Study on the Image-based Automatic Flight Control of Mini Drone

  • 선은혜 (한경대학교 전기전자제어공학과) ;
  • 트랜후루엇트 (한경대학교 전기전자제어공학과) ;
  • 김동연 (한경대학교 전기전자제어공학과) ;
  • 김용태 (한경대학교 전기전자제어공학과)
  • Sun, Eun-Hey (Department of Electrical, Electronic and Control Engineering, Hankyong National University) ;
  • Luat, Tran Huu (Department of Electrical, Electronic and Control Engineering, Hankyong National University) ;
  • Kim, Dongyeon (Department of Electrical, Electronic and Control Engineering, Hankyong National University) ;
  • Kim, Yong-Tae (Department of Electrical, Electronic and Control Engineering, Hankyong National University)
  • 투고 : 2015.11.22
  • 심사 : 2015.12.16
  • 발행 : 2015.12.25
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초록

본 논문은 실내에서 미니드론의 영상기반 자동 비행 및 이 착륙 제어시스템을 제안한다. 천정 카메라와 지면에 마커가 있는 환경에서 미니드론의 자동 비행 제어시스템을 구성하였다. 천장에 설치된 카메라영상을 기반으로 착륙 위치와 드론을 인식할 뿐만 아니라 드론의 움직임을 추적한다. PC서버는 드론의 위치를 계산하여 드론에 제어 명령을 전송한다. 드론의 비행 제어기는 상태 머신 기법, PID 제어와 웨이포인트-위치 제어기법을 사용하여 구현하였다. 실제 미니드론을 사용하여 제안한 자동제어시스템을 검증하였다. 바닥의 마커를 인식하여 ㄱ, ㄷ, ㅁ자 등의 특정 형상의 궤적을 따라 비행하는 것을 실험으로 확인하였으며, 높이의 차이가 있는 두 개의 착륙지점에도 착륙하는 실험에서도 우수한 성능을 보여 주었다.

In this paper, we propose a the image-based automatic flight control system for the mini drone. Automatic flight system with a camera on the ceiling and markers on the floor and landing position is designed in an indoor environment. Images from the ceiling camera is used not only to recognize the makers and landing position but also to track the drone motion. PC sever identifies the location of the drone and sends control commands to the mini drone. Flight controller of the mini drone is designed using state-machine algorithm, PID control and way-point position control method. From the, The proposed automatic flight control system is verified through the experiments of the mini drone. We see that known makers in environment are recognized and the drone can follows the trajectories with the specific ㄱ, ㄷ and ㅁ shapes. Also, experimental results show that the drone can approach and correctly land on the target positions which are set at different height.

키워드

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