近幾年來由於天然災害發生頻繁，災害發生後救難人員往往無法把握黃金72小時的救援時刻而造成人員傷亡的慘重。主要原因為災區環境中房屋倒塌、路面遭受破壞導致傳統的搜索方式效率不佳。隨著四軸飛行器的興起，應用四軸飛行器於災區搜尋受困者的議題也越來越熱門。然而，目前市面的四軸飛行器沒有動態航點導航及量測資料即時傳輸的功能。四軸飛行器只能根據事先規劃的航點飛行，無法根據量測資料動態地決定下一個航點，因此無法縮短四軸飛行器的搜索時間。另外，當四軸飛行器有量測資料時，必須等到返回到使用者的身邊才能將量測資料取出，因而延遲取得量測資料的時間。本論文主要使用Raspberry Pi解決實作動態航點導航及量測資料即時傳輸的挑戰，使Raspberry Pi能夠在四軸飛行器到達航點時，根據量測資料動態地決定下一個航點，並使四軸飛行器飛往下一個航點。另外，四軸飛行器在飛行途中也能夠一邊飛行一邊即時傳輸量測資料。

In recent years, disasters occurred frequently. After a disaster, rescue personnel are often unable to save the trapped people during gold 72 hours and may make heavy casualties. The main reason of low efficiency is that using traditional method to search because of collapse of houses and destroyed pavement at stricken regions. Since quadcopter become popular, the issue of using quadcopter to search trapped people in stricken regions has been major topic of debate. However, there is no quadcopter has function of dynamic waypoint navigation and instant transmission of measured data on the market. Quadcopter is able to fly according to the waypoint in advance planning, but could not dynamically decide the next waypoint according to the measured data. Quadcopter is unable to shorten the search time. In addition, if the quadcopter has measured data, user only can wait until the quadcopter is back and retrieve the measured data. It led to delay to get the measured data. In this thesis, solving challenge for implementation of dynamic waypoint navigation and instant transmission of measured data using Raspberry Pi which is able to determine a next waypoint according measured data when quadcopter arrive at the waypoint. Besides, quadcopter also can instantly transmit the measured data while flying.

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