تشخیص و رهگیری بلادرنگ شی هدف با بهره گیری از شبکه یولو توسط ربات پرنده

نوع مقاله : مقاله علمی پژوهشی

نویسندگان

1 استادیار، گروه خلبانی، دانشکده پرواز، دانشگاه افسری امام علی (ع)، تهران

2 کارشناسی ارشد، دانشکده مکانیک، دانشگاه امیرکبیر، تهران، ایران

چکیده

در این مقاله، از روش یولو نسخه 3 برای تشخیص بلادرنگ هدف، جهت ردیابی توسط کوادکوپتر تلو استفاده شده است. شبکه یولو با استفاده از 2000 تصویر از هدف با دقت بالای 99% آموزش دیده است. این شبکه قادر است در شرایط نوری و زمینه ای متفاوت با سرعت 15 فریم بر ثانیه و دقت تشخیص 98% و دقت تعقیب 95% هدف را شناسایی کند. بعد از تشخیص هدف خطاهای سیستم محاسبه می شود و به کنترل کننده ها داده می شود تا هدف را به صورت بلادرنگ ردیابی کند. کنترل کننده های طراحی شده به صورت بلادرنگ هدف را با خطای زیر 20% تعقیب کند و اجازه خارج شدن هدف از مرکز دید کوادکوپتر داده نمی شود.

کلیدواژه‌ها

موضوعات


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