PURWARUPA SISTEM PENGIKUT OBJEK PADA QUADCOPTER MENGGUNAKAN PENGOLAHAN CITRA DIGITAL; PROTOTYPE OF OBJECT TRACKING SYSTEM ON QUADCOPTER BASED ON DIGITAL IMAGE PROCESSING
Nugroho, Ardianto, Raden Sumiharto
2016 | Skripsi | FMIPADrone or so-called UAV (Unmanned Aerial Vehicle) manifold quadcopter is one type of UAV with four rotors and propellers as the actuator. Quadcopter often operated automatically leverage GPS (global positioning system). However, the use of GPS in some automatic fly missions have some drawbacks such as inability quadcopter GPS positioning relative to a particular object and follow it. Computer Vision technology can be an alternative on quadcopter navigation guides on a mission to follow an object. In this Research was developed prototype image processing system as quadcopter navigation guide for missions to follow a circular red object autonomously. Image processing implemented in the SBC Cubieboard using OpenCV image processing library with segmentation method of color and contour detection, while the processed products are communicated via a serial connection to the Ardupilot Mega 2.6. flight controller. The results showed quadcopter able to follow the object with digital image processing as a guide navigation. The test results found that the farthest optimum distance that is readable by the system when the diameter of an object 25 cm is 7 m. object shape recognition method using the principle area of a circle, divided by the area of the contour of the diameter squared contour will generate value ?. The research results obtained ? value for the circle in the range of 3 to 3.16. The system can recognize objects in red. Object tracking process for pitch and roll motion successfully implemented using image processing with the reference value of the object area and the position coordinates of the object in the frame. Speed respons of the motion system is 0.3 m / s and not be able to follow the movement of objects at speeds of more than 1 m / s.
Kata Kunci : quadcopter, tracking object, contour detection, OpenCV
