Genetic Algorithm Path Planning with Camera Gimbal Tracking for UAV Flight Control

論文翻譯標題: 無人載具之基因演算法路徑規劃及定點追蹤攝影平台控制
  • 楊 勝凱

學生論文: Master's Thesis


The UAV aerial photography is a developable technology to document and monitor local region This thesis proposes the structure of aerial photography including the flight path planning camera gimbal control and the UAV autopilot system First considering the safety of flight the flight path planning is necessary The Genetic Algorithm (GA) is a global search algorithm applied to the path planning with the suitable virtual flight map Second in order to control the camera gimbal to track the target the information between UAV and tracking-target is important By the GPS and the attitude estimation based on quaternion the relationship between UAV and tracking-target can be constructed Finally a reliable autopilot control system can execute the tracking mission with the path planning by GA
獎項日期2014 七月 17
監督員Chin-E. Lin (Supervisor)