近年來，無人駕駛飛行器經歷了強大的性能提升，尤其在環境監測、災區監督和目標搜查等任務。但大多數使用平翼機結構並且飛行於高海拔空中，而無法滯留於該航點上以及因為高度的關係所能提供的解析度不足等問題，嚴重限制了低空任務中佈署的機會。除此之外，地面移動式機器人雖然可以使用聲納與雷射做為導航的依據，但卻無法獲得全局地圖的定位與目標搜索。
本論文提出了空中與地面移動機器人聯合作戰系統結構。停旋的空中移動機器人提供了視覺團趕定位與建置地圖，並藉由無衝突與最短路徑即時地導引地面機器人到達目標。本實驗包括建模與分析空中移動機器人的PID停旋姿態控制器以達到穩定盤旋，並具有在XY平面有23.87 cm以及在Z軸上32.79 cm的定位精度。
在視覺感知和感知系統的實驗中，包含了前景與背景的分割、檢測機器人的姿勢、目標與障礙物的位置。經度誤差能夠達到19.23 mm以及處理每一個圖像幀平均只需花費126.33ms。透過可見視圖應用Dijkstra演算法建設機器人配置空間尋找機器人與目標之間最短並且無碰撞之可行路徑。
最終用影像伺服控制方法可以成功導引P3DX抵達目的地的平均誤差在85.89cm。

In recent years, Unmanned Aerial Vehicles (UAVs) have experienced a strong boost in performance, especially in environment monitoring, disaster surveillance and target search. However, the flat-wing aircraft cannot hover and provide enough resolution at high altitude because of the mechanical structure. Although ground mobile robots can navigate their way by using sonar and laser, they could not get the global position.
This thesis proposed joint operation architecture between aerial and ground mobile robots. The hovering aerial mobile robot provides visual sensing of the ground facts as the localization and mapping and followed by the collision free and shortest path generation to navigate the ground mobile robot to arrive the target in real time. The experiment includes modeling and analysis of the PID hovering attitude controller of the aerial mobile robot for achieve it will be stability hovering and has higher localization accuracy which is 23.87 cm in xy plane and 32.79 cm in z axis. The experiment in the visual sensing and perception system include foreground and background segmentation, and the detection of robot pose, target and obstacle position. The position accuracy error was 19.23 mm and the average computing time in the real-time system only spent 126.33 ms for each image frame. The visibility graph is implemented building the robot configuration space and followed by applying the Dijkstra’s algorithm to find the shortest and collision free path between the robot and target. Eventually, P3DX with visual servo control arrive the destination, and its average error was 85.89 cm.

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