Implementation of quadcopter with vision based obstacle avoidance system

• Main Author: Myo, Min Maung
• Other Authors: Wang Jianliang
• Format: Final Year Project
• Language: English
• Published: 2014
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering
• Online Access: http://hdl.handle.net/10356/60423
• Institution: Nanyang Technological University

The idea of this project is to implement a semi-­‐autonomous quad-­‐copter, which is capable of avoiding predefined obstacles. User can fully control the quad-­‐copter, if there is no obstacle around. Once an obstacle is detected, an Obstacle Avoidance System, OAS, will kick in and override the user inputs and it will try to avoid the obstacle autonomously. After the obstacle has been cleared, the user will gain the full control of the quad-­copter again. A very simple android phone camera was used in this project instead of using an expensive multiple algorithms loaded camera system. The image from the camera was read from the Matlab by using TCP/IP protocol. An object detection algorithm was written specifically for this project by using Matlab.