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http://dx.doi.org/10.7840/kics.2016.41.10.1247

Design of a GCS System Supporting Vision Control of Quadrotor Drones  

Ahn, Heejune (SeoulTech, Dept. of Electrical & Information Eng.)
Hoang, C. Anh (SeoulTech, Dept. of Electrical & Information Eng.)
Do, T. Tuan (SeoulTech, Dept. of Electrical & Information Eng.)
Publication Information
The Journal of Korean Institute of Communications and Information Sciences / v.41, no.10, 2016 , pp. 1247-1255 More about this Journal
Abstract
The safety and autonomous flight function of micro UAV or drones is crucial to its commercial application. The requirement of own building stable drones is still a non-trivial obstacle for researchers that want to focus on the intelligence function, such vision and navigation algorithm. The paper present a GCS using commercial drone and hardware platforms, and open source software. The system follows modular architecture and now composed of the communication, UI, image processing. Especially, lane-keeping algorithm. are designed and verified through testing at a sports stadium. The designed lane-keeping algorithm estimates drone position and heading in the lane using Hough transform for line detection, RANSAC-vanishing point algorithm for selecting the desired lines, and tracking algorithm for stability of lines. The flight of drone is controlled by 'forward', 'stop', 'clock-rotate', and 'counter-clock rotate' commands. The present implemented system can fly straight and mild curve lane at 2-3 m/s.
Keywords
quadrotor; drone; GCS; computer vision; lane-keeping;
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