國立虎尾科技大學 |

植基於ROS架構下之AI影像辨識定位與機間通訊功能之無人機蜂群研製 = = Development of Swarm Drones Based on ROS Architecture By AI Image Recognition, Localization, and Inter-Vehicle Communication Functions /

Record Type:	Language materials, printed : Monograph/item
Title/Author:	植基於ROS架構下之AI影像辨識定位與機間通訊功能之無人機蜂群研製 =/ 林鈺翔.
Reminder of title:	Development of Swarm Drones Based on ROS Architecture By AI Image Recognition, Localization, and Inter-Vehicle Communication Functions /
remainder title:	Development of Swarm Drones Based on ROS Architecture By AI Image Recognition, Localization, and Inter-Vehicle Communication Functions.
Author:	林鈺翔
Published:	雲林縣 :國立虎尾科技大學 , : 民113.07.,
Description:	[18], 158面 :圖, 表 ; : 30公分.;
Notes:	指導教授: 鄒杰烔.
Subject:	Oblique Detection. -
Online resource:	電子資源

植基於ROS架構下之AI影像辨識定位與機間通訊功能之無人機蜂群研製 = = Development of Swarm Drones Based on ROS Architecture By AI Image Recognition, Localization, and Inter-Vehicle Communication Functions /
林鈺翔

植基於ROS架構下之AI影像辨識定位與機間通訊功能之無人機蜂群研製 =Development of Swarm Drones Based on ROS Architecture By AI Image Recognition, Localization, and Inter-Vehicle Communication Functions /Development of Swarm Drones Based on ROS Architecture By AI Image Recognition, Localization, and Inter-Vehicle Communication Functions.林鈺翔. - 初版. - 雲林縣 :國立虎尾科技大學 ,民113.07. - [18], 158面 :圖, 表 ;30公分.

指導教授: 鄒杰烔.

碩士論文--國立虎尾科技大學飛機工程系航空與電子科技碩士班.

含參考書目.

由於近年來因國際情勢的緊張，許多國家彼此間衝突不斷，舉凡俄烏戰爭、以哈戰爭皆使用到無人機進行偵察與打擊敵方目標的作業，因此在無人機上皆會搭載鏡頭與目標物辨識功能，倘若能結合機間通訊功能，當偵察機辨視出目標物並對其進行定位，透過無線通訊功能回傳座標給地面站，再請求火力支援去打擊目標，以發揮無人機在不對稱作戰中，制敵的關鍵利器。為了能達成上述想定，每台無人機搭載嵌入式系統，透過ROS系統進行機間通訊，並使用MAVROS函式庫來與飛控連接。採用此架構能在機載電腦上進行即時運算與控制，同時透過UDP通訊協議，將無人機飛控資料回傳至地面站做監控。長機負責接收垂直向下式偵察機回傳的目標座標，並且飛往該目標物上空進行投擲。僚機會與長機通訊，透過ROS(Robot Operation System)系統下的機間通訊功能，長機將進行相對位置的計算，並將計算完成後的位置發送給僚機，使僚機能與長機保持距離進行編隊的飛行，長機接收到目標物位置資訊時僚機會同時起飛並且依照需求進行編隊飛行，當長機與僚機到達目標物上空後，地面站需按下確認按鈕後無人機會同時進行投擲的動作，投擲完成後則會回到起飛位置等待偵察機傳送新一筆目標物位置。並設計一套地面站負責監視所有無人機的狀態、目標物座標與圖片、機隊是否到達目標物位置，並點選按鈕使機隊能同時投擲。最終，本研究達成了全自動飛行目的，垂直向下式偵察機進行自動偵蒐目標並將目標位置座標與圖片回傳至地面站，長機接收到座標訊息後，與二台僚機同時起飛，僚機會依據長機位置進行相對位置的編隊，到達目標物上空時需切換成投擲隊形地面站按鈕才能點選，點選按鈕後長機與僚機可以同時投擲。在地面站畫面內可監視各台無人機的基本數據、目標物圖片與座標、投擲按鈕介面設計與地圖顯示無人機位置與目標物位置，並提升了垂直向下式偵蒐目標物之精準度，在高度40公尺、50公尺、60公尺下與目標物之距離誤差分別為0.15公尺、0.48公尺、0.54公尺；斜向式偵蒐目標物之精準度為2.1公尺、1.8公尺、1.66公尺並進行了斜向偵測式與垂直向下式偵察機的誤差比較與提升精準度的探討。.

(平裝)Subjects--Topical Terms:

1450729
Oblique Detection.

植基於ROS架構下之AI影像辨識定位與機間通訊功能之無人機蜂群研製 = = Development of Swarm Drones Based on ROS Architecture By AI Image Recognition, Localization, and Inter-Vehicle Communication Functions /
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246 1 1 $a Development of Swarm Drones Based on ROS Architecture By AI Image Recognition, Localization, and Inter-Vehicle Communication Functions.
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300 $a [18], 158面 : $b 圖, 表 ; $c 30公分.
500 $a 指導教授: 鄒杰烔.
500 $a 學年度: 112.
502 $a 碩士論文--國立虎尾科技大學飛機工程系航空與電子科技碩士班.
504 $a 含參考書目.
520 3 $a 由於近年來因國際情勢的緊張，許多國家彼此間衝突不斷，舉凡俄烏戰爭、以哈戰爭皆使用到無人機進行偵察與打擊敵方目標的作業，因此在無人機上皆會搭載鏡頭與目標物辨識功能，倘若能結合機間通訊功能，當偵察機辨視出目標物並對其進行定位，透過無線通訊功能回傳座標給地面站，再請求火力支援去打擊目標，以發揮無人機在不對稱作戰中，制敵的關鍵利器。為了能達成上述想定，每台無人機搭載嵌入式系統，透過ROS系統進行機間通訊，並使用MAVROS函式庫來與飛控連接。採用此架構能在機載電腦上進行即時運算與控制，同時透過UDP通訊協議，將無人機飛控資料回傳至地面站做監控。長機負責接收垂直向下式偵察機回傳的目標座標，並且飛往該目標物上空進行投擲。僚機會與長機通訊，透過ROS(Robot Operation System)系統下的機間通訊功能，長機將進行相對位置的計算，並將計算完成後的位置發送給僚機，使僚機能與長機保持距離進行編隊的飛行，長機接收到目標物位置資訊時僚機會同時起飛並且依照需求進行編隊飛行，當長機與僚機到達目標物上空後，地面站需按下確認按鈕後無人機會同時進行投擲的動作，投擲完成後則會回到起飛位置等待偵察機傳送新一筆目標物位置。並設計一套地面站負責監視所有無人機的狀態、目標物座標與圖片、機隊是否到達目標物位置，並點選按鈕使機隊能同時投擲。最終，本研究達成了全自動飛行目的，垂直向下式偵察機進行自動偵蒐目標並將目標位置座標與圖片回傳至地面站，長機接收到座標訊息後，與二台僚機同時起飛，僚機會依據長機位置進行相對位置的編隊，到達目標物上空時需切換成投擲隊形地面站按鈕才能點選，點選按鈕後長機與僚機可以同時投擲。在地面站畫面內可監視各台無人機的基本數據、目標物圖片與座標、投擲按鈕介面設計與地圖顯示無人機位置與目標物位置，並提升了垂直向下式偵蒐目標物之精準度，在高度40公尺、50公尺、60公尺下與目標物之距離誤差分別為0.15公尺、0.48公尺、0.54公尺；斜向式偵蒐目標物之精準度為2.1公尺、1.8公尺、1.66公尺並進行了斜向偵測式與垂直向下式偵察機的誤差比較與提升精準度的探討。.
520 3 $a Due to the recent tensions in international situations, conflicts between many countries have been ongoing. In the Russia-Ukraine war and the Israel-Hamas conflict, drones have been used for reconnaissance and striking enemy targets. These drones are equipped with cameras and target recognition functions. If communication between drones can be integrated, a reconnaissance drone could identify a target and pinpoint its location, then transmit the coordinates to the ground station via wireless communication. The ground station could then request fire support to strike the target, making drones a crucial weapon in asymmetric warfare. To achieve the above scenario, each drone is equipped with an embedded system that communicates through the ROS (Robot Operating System) and uses the MAVROS library to connect with the flight control system. This architecture allows real-time computation and control on the onboard computer, while using the UDP communication protocol to send drone flight control data back to the ground station for monitoring. The lead drone is responsible for receiving the target coordinates from the vertically oriented reconnaissance drone and flying over the target for a strike. The wingmen communicate with the lead drone using ROS's inter-drone communication function. The lead drone calculates the relative position and sends it to the wingmen, allowing them to maintain formation flight with the lead drone. When the lead drone receives the target position information, the wingmen take off simultaneously and fly in formation according to the mission requirements. Once they reach the target, the ground station needs to press a confirmation button to enable the drones to release their payloads simultaneously. After releasing, they return to their launch position to await new target coordinates from the reconnaissance drone. A ground station is designed to monitor all drones' statuses, target coordinates, images, and whether the fleet has reached the target. By pressing a button, the fleet can release their payloads simultaneously. Ultimately, the study achieved fully autonomous flight. The vertically oriented reconnaissance drone automatically searches for targets and sends target coordinates and images back to the ground station. Upon receiving the coordinates, the lead drone and two wingmen take off simultaneously. The wingmen form a relative position with the lead drone. When they reach the target, they switch to the drop formation, and the ground station button can be pressed. After pressing the button, the lead and wingmen can release their payloads simultaneously. On the ground station interface, users can monitor each drone's basic data, target images, coordinates, release button design, and map display of drone and target positions. The accuracy of vertical reconnaissance of targets improved, with errors of 0.15 meters, 0.48 meters, and 0.54 meters at altitudes of 40 meters, 50 meters, and 60 meters, respectively. The accuracy for oblique reconnaissance of targets was 2.1 meters, 1.8 meters, and 1.66 meters. A comparison of errors between oblique detection and vertical reconnaissance drones was conducted, along with a discussion on improving accuracy..
563 $a (平裝)
650 # 4 $a Oblique Detection. $3 1450729
650 # 4 $a Swarm Drones. $3 1450728
650 # 4 $a Inter-Drone Communication. $3 1450727
650 # 4 $a ROS. $3 1343004
650 # 4 $a Image Tracking. $3 1450726
650 # 4 $a Deep Learning. $3 1127423
650 # 4 $a Edge Computing. $3 1342825
650 # 4 $a AI Drone. $3 1450725
650 # 4 $a 斜向偵測. $3 1450724
650 # 4 $a 蜂群無人機. $3 1450723
650 # 4 $a 機間通訊. $3 1450722
650 # 4 $a 影像追蹤. $3 1026530
650 # 4 $a 深度學習. $3 1127425
650 # 4 $a 邊緣運算. $3 1342813
650 # 4 $a AI無人機. $3 1383797
856 7 # $u https://handle.ncl.edu.tw/11296/22bjwr $z 電子資源 $2 http