近年來感測器的進步、微處理器、動力裝置的改善、新型材料應用的提升，以及視覺系統的普及，造就現在空拍(例如活動、新聞、電影等)四旋翼的流行，不僅降低了空拍成本，也可在有限的空間和有限的資源內完成好的拍攝。此外在安全監控發達的時代，大多安全監控都侷限於靜態監控，對於即時發生的安全問題並無有效且即時的方法可以克服，因此四旋翼無人飛行載具即為一個有效的資源可以彌補安全監控中的動態監控。本論文以所設計的四旋翼無人飛行載具進行相關實驗以證明以上饪務的可行性。在此論文中四旋翼可以從地面之起始點起飛後，追蹤目標物(即地面特定的軌跡)飛行，結束目標物追蹤後，即自動降落至指定的結束點，完成所設定的任務。本論文利用陀螺儀、超音波感測器分別作尤拉角（ 、 ）進行姿態回授比例積分雙微分控制器(PIDD)控制，尤拉角( )、高度（z）軸，以及影像系統對地面的位置進行比例積分微分控制器(PID)控制（ 、 ），並以四顆馬達之速度控制完成所設定的pitch、roll、yaw、高度、地面x、y六個狀態的操控。最後以相關實驗證明所建立四旋翼無人飛行載具平台之有效性及可行性。

Because of the progress in technology of sensors, the improvement of microprocessors and dynamical systems, the application of new materials, battery capacity’s upgrades, and the popularization of embedded vision systems, quad-rotor unmanned aerial vehicles (QUAVs) have been quickly developed. In the age of advanced security monitoring, security surveillance are mostly limited to static monitoring. There is only few effective way to overcome the real-time security problems. On the other hand, the QUAV with suitable monitoring equipment provides a possible solution for the corresponding problem. In this thesis, the experiment to verify the feasibility of this concept is presented. The developed QUAV starts from the “Start Point” to take off the ground, it then tracks the specific trajectory on the ground. After the visual trajectory tracking, the QUAV will land to a specific “End Point.” In the planned experiment, the IMU sensor, the ultrasonic sensor and the vision system are used for the attitude control, the height control, and 2D position of QUAV, respectively. After these requirements are planned, the velocities of four motors are controlled to achieve the desired pitch, roll, yaw angles, the height and the 2D position of QUAV. Finally, the corresponding experiments are presented to confirm the validity of the proposed QUAV.

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