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    Title: 應用MATLAB 於UAV 之視訊導航
    Other Titles: Application of Matlab to the Vision-Based Navigation of UAVs
    Authors: Chen, Y.C.;陳延銓;Hsiao, F.Y.;Shen, J.F.;沈正夫;Hung, F.C.;洪福慶;Lin, S.Y.;林思宇
    Contributors: 淡江大學航空太空工程學系
    Keywords: 導航;視訊導航;無人飛行載具;硬體實作;Matlab;Navigation;Vision-based navigation;Unmanned aerial vehicles (UAVs);Hardware
    implementation;Matlab
    Date: 2010
    Issue Date: 2013-03-22 19:38:31 (UTC+8)
    Publisher: 臺北縣淡水鎮 : 淡江大學航空太空工程學系
    Abstract: 本文主要探討如何將MATLAB 應用在無人飛行載具(UAVs) 的視訊導航上。一般在硬體實作上,研究
    員會使用C 語言,但C 語言通常不容易處理複雜的演算法。另外,我們認為Matlab 在導航與控制UAVs
    上是個理想的工其,不僅因為它有強大的矩陣運算與影像處理功能,更因為它亦其備與硬體的溝通之
    能力。在本研究中, UAVs 利用視訊設備進行導引,並選擇Matlab 作為開發平台,色括數值分析和硬
    體建置。本文介紹兩種類型的導航問題,並以Malab 為主體提出相對應的導引律。我們亦設計相關實
    驗以確認分析結果,並使用「運算時間」及「辨識成功率」做為參考指標。本研究成果顯示Matlab
    及所提出的導航律在UAVs 的導引上,分別是個理想的平台及演算法。
    The application of Matlab to the vision-based navigation of unmanned aerials vehicles (UAVs) is
    investigated in this paper. Speaking of hardware implementation, researchers conventionally turn to the C
    code. However, it is usually not easy as dealing with sophisticated algorithms. Alternatively, we think Matlab
    an ideal candidate to navigate and control UAVs, not only because of its powerful functions on matrix
    operation and image processing, but also due to its capability of collaboration with hardware. In this research,
    the UAV is navigated with vision-based equipments, and Matlab is selected as the platform of development,
    from analysis to the whole hardware hierarchy. Two types of navigation problems are introduced as potential
    applications, and corresponding navigation laws are proposed taking Matlab into account. Experiments are
    also designed to examine the results, and processing time and successful rate are introduced as indices of
    performance. It is shown that Matlab and the proposed navigation laws are ideal platform and algorithms,
    respectively, to navigate UAVs.
    Relation: 第七屆海峽兩岸航空太空學術研討會論文集, pp.435-442
    Appears in Collections:[航空太空工程學系暨研究所] 會議論文

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